diff --git a/src/main/drivers/timer.c b/src/main/drivers/timer.c
index 2e8f90e070..db9bc9e5fd 100644
--- a/src/main/drivers/timer.c
+++ b/src/main/drivers/timer.c
@@ -191,21 +191,21 @@ static const TIM_TypeDef const *timers[MAX_TIMERS] = {
 
 #ifdef NAZE32PRO
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM1,  GPIOA, Pin_8,  TIM_Channel_1, TIM1_CC_IRQn,            0, Mode_AF_PP_PD, GPIO_PinSource8,  GPIO_AF6}, // PA8 - AF6
-    { TIM1,  GPIOA, Pin_9,  TIM_Channel_2, TIM1_CC_IRQn,            0, Mode_AF_PP_PD, GPIO_PinSource9,  GPIO_AF6}, // PA9 - AF6
-    { TIM1,  GPIOA, Pin_10, TIM_Channel_3, TIM1_CC_IRQn,            0, Mode_AF_PP_PD, GPIO_PinSource10, GPIO_AF6}, // PA10 - AF6
-    { TIM3,  GPIOB, Pin_4,  TIM_Channel_1, TIM3_IRQn,               0, Mode_AF_PP_PD, GPIO_PinSource4,  GPIO_AF2}, // PB4 - AF2
-    { TIM4,  GPIOB, Pin_6,  TIM_Channel_1, TIM4_IRQn,               0, Mode_AF_PP_PD, GPIO_PinSource6,  GPIO_AF2}, // PB6 - AF2 - not working yet
-    { TIM4,  GPIOB, Pin_7,  TIM_Channel_2, TIM4_IRQn,               0, Mode_AF_PP_PD, GPIO_PinSource7,  GPIO_AF2}, // PB7 - AF2 - not working yet
-    { TIM4,  GPIOB, Pin_8,  TIM_Channel_3, TIM4_IRQn,               0, Mode_AF_PP_PD, GPIO_PinSource8,  GPIO_AF2}, // PB8 - AF2
-    { TIM4,  GPIOB, Pin_9,  TIM_Channel_4, TIM4_IRQn,               0, Mode_AF_PP_PD, GPIO_PinSource9,  GPIO_AF2}, // PB9 - AF2
+    { TIM1,  GPIOA, Pin_8,  TIM_Channel_1, TIM1_CC_IRQn,            0, Mode_AF_PP_PD, GPIO_PinSource8,  GPIO_AF_6}, // PA8 - AF6
+    { TIM1,  GPIOA, Pin_9,  TIM_Channel_2, TIM1_CC_IRQn,            0, Mode_AF_PP_PD, GPIO_PinSource9,  GPIO_AF_6}, // PA9 - AF6
+    { TIM1,  GPIOA, Pin_10, TIM_Channel_3, TIM1_CC_IRQn,            0, Mode_AF_PP_PD, GPIO_PinSource10, GPIO_AF_6}, // PA10 - AF6
+    { TIM3,  GPIOB, Pin_4,  TIM_Channel_1, TIM3_IRQn,               0, Mode_AF_PP_PD, GPIO_PinSource4,  GPIO_AF_2}, // PB4 - AF2
+    { TIM4,  GPIOB, Pin_6,  TIM_Channel_1, TIM4_IRQn,               0, Mode_AF_PP_PD, GPIO_PinSource6,  GPIO_AF_2}, // PB6 - AF2 - not working yet
+    { TIM4,  GPIOB, Pin_7,  TIM_Channel_2, TIM4_IRQn,               0, Mode_AF_PP_PD, GPIO_PinSource7,  GPIO_AF_2}, // PB7 - AF2 - not working yet
+    { TIM4,  GPIOB, Pin_8,  TIM_Channel_3, TIM4_IRQn,               0, Mode_AF_PP_PD, GPIO_PinSource8,  GPIO_AF_2}, // PB8 - AF2
+    { TIM4,  GPIOB, Pin_9,  TIM_Channel_4, TIM4_IRQn,               0, Mode_AF_PP_PD, GPIO_PinSource9,  GPIO_AF_2}, // PB9 - AF2
 
-    { TIM2,  GPIOA, Pin_0,  TIM_Channel_1, TIM2_IRQn,               1, Mode_AF_PP, GPIO_PinSource0, GPIO_AF2}, // PA0 - untested
-    { TIM2,  GPIOA, Pin_1,  TIM_Channel_2, TIM2_IRQn,               1, Mode_AF_PP, GPIO_PinSource1, GPIO_AF2}, // PA1 - untested
-    { TIM15, GPIOA, Pin_2,  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP, GPIO_PinSource2, GPIO_AF9}, // PA2 - untested
-    { TIM15, GPIOA, Pin_3,  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP, GPIO_PinSource3, GPIO_AF9}, // PA3 - untested
-    { TIM16, GPIOA, Pin_6,  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, Mode_AF_PP, GPIO_PinSource6, GPIO_AF1}, // PA6 - untested
-    { TIM17, GPIOA, Pin_7,  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, Mode_AF_PP, GPIO_PinSource7, GPIO_AF1}, // PA7 - untested
+    { TIM2,  GPIOA, Pin_0,  TIM_Channel_1, TIM2_IRQn,               1, Mode_AF_PP, GPIO_PinSource0, GPIO_AF_2}, // PA0 - untested
+    { TIM2,  GPIOA, Pin_1,  TIM_Channel_2, TIM2_IRQn,               1, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_2}, // PA1 - untested
+    { TIM15, GPIOA, Pin_2,  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP, GPIO_PinSource2, GPIO_AF_9}, // PA2 - untested
+    { TIM15, GPIOA, Pin_3,  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP, GPIO_PinSource3, GPIO_AF_9}, // PA3 - untested
+    { TIM16, GPIOA, Pin_6,  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, Mode_AF_PP, GPIO_PinSource6, GPIO_AF_1}, // PA6 - untested
+    { TIM17, GPIOA, Pin_7,  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, Mode_AF_PP, GPIO_PinSource7, GPIO_AF_1}, // PA7 - untested
 };
 
 #define MAX_TIMERS 7
diff --git a/src/main/flight/altitudehold.c b/src/main/flight/altitudehold.c
index 097c8ec233..c916a0496b 100644
--- a/src/main/flight/altitudehold.c
+++ b/src/main/flight/altitudehold.c
@@ -66,7 +66,6 @@
 #include "config/config_profile.h"
 #include "config/config_master.h"
 
-#if defined(BARO) || defined(SONAR)
 
 barometerConfig_t *barometerConfig;
 pidProfile_t *pidProfile;
@@ -77,6 +76,7 @@ void configureAltitudeHold(pidProfile_t *initialPidProfile, barometerConfig_t *i
     barometerConfig = intialBarometerConfig;
 }
 
+#if defined(BARO) || defined(SONAR)
 
 static int16_t initialThrottleHold;