diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 6dcc27abe8..84debb5580 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1241,24 +1241,20 @@ void Copter::convert_pid_parameters(void)
 #endif
 
     // scale PID gains
-    uint8_t table_size = ARRAY_SIZE(pid_conversion_info);
-    for (uint8_t i=0; i<table_size; i++) {
-        AP_Param::convert_old_parameter(&pid_conversion_info[i], pid_scaler);
+    for (const auto &info : pid_conversion_info) {
+        AP_Param::convert_old_parameter(&info, pid_scaler);
     }
     // reduce IMAX into -1 ~ +1 range
-    table_size = ARRAY_SIZE(imax_conversion_info);
-    for (uint8_t i=0; i<table_size; i++) {
-        AP_Param::convert_old_parameter(&imax_conversion_info[i], 1.0f/4500.0f);
+    for (const auto &info : imax_conversion_info) {
+        AP_Param::convert_old_parameter(&info, 1.0f/4500.0f);
     }
     // convert angle controller gain and filter without scaling
-    table_size = ARRAY_SIZE(angle_and_filt_conversion_info);
-    for (uint8_t i=0; i<table_size; i++) {
-        AP_Param::convert_old_parameter(&angle_and_filt_conversion_info[i], 1.0f);
+    for (const auto &info : angle_and_filt_conversion_info) {
+        AP_Param::convert_old_parameter(&info, 1.0f);
     }
     // convert throttle parameters (multicopter only)
-    table_size = ARRAY_SIZE(throttle_conversion_info);
-    for (uint8_t i=0; i<table_size; i++) {
-        AP_Param::convert_old_parameter(&throttle_conversion_info[i], 0.001f);
+    for (const auto &info : throttle_conversion_info) {
+        AP_Param::convert_old_parameter(&info, 0.001f);
     }
     // convert RC_FEEL_RP to ATC_INPUT_TC
     const AP_Param::ConversionInfo rc_feel_rp_conversion_info = { Parameters::k_param_rc_feel_rp, 0, AP_PARAM_INT8, "ATC_INPUT_TC" };
@@ -1267,9 +1263,8 @@ void Copter::convert_pid_parameters(void)
         AP_Param::set_default_by_name(rc_feel_rp_conversion_info.new_name, (1.0f / (2.0f + rc_feel_rp_old.get() * 0.1f)));
     }
     // convert loiter parameters
-    table_size = ARRAY_SIZE(loiter_conversion_info);
-    for (uint8_t i=0; i<table_size; i++) {
-        AP_Param::convert_old_parameter(&loiter_conversion_info[i], 1.0f);
+    for (const auto &info : loiter_conversion_info) {
+        AP_Param::convert_old_parameter(&info, 1.0f);
     }
 
     // TradHeli default parameters