diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index 99449a2991dae..74bd78a15db91 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -1515,14 +1515,14 @@ bool ModeAuto::set_next_wp(const AP_Mission::Mission_Command& current_cmd, const
     switch (next_cmd.id) {
     case MAV_CMD_NAV_WAYPOINT:
     case MAV_CMD_NAV_LOITER_UNLIM:
-    case MAV_CMD_NAV_LOITER_TIME:
 #if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED
-    case MAV_CMD_NAV_PAYLOAD_PLACE: {
+    case MAV_CMD_NAV_PAYLOAD_PLACE:
+#endif
+    case MAV_CMD_NAV_LOITER_TIME: {
         const Location dest_loc = loc_from_cmd(current_cmd, default_loc);
         const Location next_dest_loc = loc_from_cmd(next_cmd, dest_loc);
         return wp_nav->set_wp_destination_next_loc(next_dest_loc);
     }
-#endif
     case MAV_CMD_NAV_SPLINE_WAYPOINT: {
         // get spline's location and next location from command and send to wp_nav
         Location next_dest_loc, next_next_dest_loc;