diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 22ad2f0c38..a3302f3ab5 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -3189,8 +3189,8 @@ void applyWaypointNavigationAndAltitudeHold(void)
     }
 
     /* Reset flags */
-    posControl.flags.horizontalPositionDataConsumed = 0;
-    posControl.flags.verticalPositionDataConsumed = 0;
+    posControl.flags.horizontalPositionDataConsumed = false;
+    posControl.flags.verticalPositionDataConsumed = false;
 
     /* Process controllers */
     navigationFSMStateFlags_t navStateFlags = navGetStateFlags(posControl.navState);
@@ -3772,7 +3772,7 @@ void navigationInit(void)
     posControl.flags.estHeadingStatus = EST_NONE;
     posControl.flags.estAglStatus = EST_NONE;
 
-    posControl.flags.forcedRTHActivated = 0;
+    posControl.flags.forcedRTHActivated = false;
     posControl.flags.forcedEmergLandingActivated = false;
     posControl.waypointCount = 0;
     posControl.activeWaypointIndex = 0;
diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index 27c5a47925..00439e6d51 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -188,7 +188,7 @@ void applyFixedWingAltitudeAndThrottleController(timeUs_t currentTimeUs)
             }
 
             // Indicate that information is no longer usable
-            posControl.flags.verticalPositionDataConsumed = 1;
+            posControl.flags.verticalPositionDataConsumed = true;
         }
 
         isPitchAdjustmentValid = true;
@@ -440,7 +440,7 @@ void applyFixedWingPositionController(timeUs_t currentTimeUs)
             }
 
             // Indicate that information is no longer usable
-            posControl.flags.horizontalPositionDataConsumed = 1;
+            posControl.flags.horizontalPositionDataConsumed = true;
         }
 
         isRollAdjustmentValid = true;
@@ -480,7 +480,7 @@ int16_t applyFixedWingMinSpeedController(timeUs_t currentTimeUs)
             }
 
             // Indicate that information is no longer usable
-            posControl.flags.horizontalPositionDataConsumed = 1;
+            posControl.flags.horizontalPositionDataConsumed = true;
         }
     }
     else {
diff --git a/src/main/navigation/navigation_multicopter.c b/src/main/navigation/navigation_multicopter.c
index 2f5028716f..cf8491c2af 100755
--- a/src/main/navigation/navigation_multicopter.c
+++ b/src/main/navigation/navigation_multicopter.c
@@ -235,7 +235,7 @@ static void applyMulticopterAltitudeController(timeUs_t currentTimeUs)
         }
 
         // Indicate that information is no longer usable
-        posControl.flags.verticalPositionDataConsumed = 1;
+        posControl.flags.verticalPositionDataConsumed = true;
     }
 
     // Update throttle controller
@@ -654,7 +654,7 @@ static void applyMulticopterPositionController(timeUs_t currentTimeUs)
             }
 
             // Indicate that information is no longer usable
-            posControl.flags.horizontalPositionDataConsumed = 1;
+            posControl.flags.horizontalPositionDataConsumed = true;
         }
     }
     else {
@@ -774,7 +774,7 @@ static void applyMulticopterEmergencyLandingController(timeUs_t currentTimeUs)
         }
 
         // Indicate that information is no longer usable
-        posControl.flags.verticalPositionDataConsumed = 1;
+        posControl.flags.verticalPositionDataConsumed = true;
     }
 
     // Update throttle controller
diff --git a/src/main/navigation/navigation_rover_boat.c b/src/main/navigation/navigation_rover_boat.c
index 62cce388c8..e21e78175a 100644
--- a/src/main/navigation/navigation_rover_boat.c
+++ b/src/main/navigation/navigation_rover_boat.c
@@ -102,7 +102,7 @@ void applyRoverBoatPositionController(timeUs_t currentTimeUs)
             }
 
             // Indicate that information is no longer usable
-            posControl.flags.horizontalPositionDataConsumed = 1;
+            posControl.flags.horizontalPositionDataConsumed = true;
         }
 
         isYawAdjustmentValid = true;