diff --git a/src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.cc b/src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.cc
index fa8782b..276ae6e 100644
--- a/src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.cc
+++ b/src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.cc
@@ -138,13 +138,11 @@ void PX4AdvancedFlightModesController::_validateConfiguration(void)
     _validConfiguration = true;
     
     // Make sure switches are valid and within channel range
-    
-    QStringList switchParams;
+
+    const QStringList switchParams = {"RC_MAP_MODE_SW", "RC_MAP_ACRO_SW",  "RC_MAP_POSCTL_SW", "RC_MAP_LOITER_SW", "RC_MAP_RETURN_SW", "RC_MAP_OFFB_SW"};
     QList<int> switchMappings;
-    
-    switchParams << "RC_MAP_MODE_SW"  << "RC_MAP_ACRO_SW"  << "RC_MAP_POSCTL_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_OFFB_SW";
-    
-    for(int i=0; i<switchParams.count(); i++) {
+
+    for(int i=0, end = switchParams.count(); i < end; i++) {
         int map = getParameterFact(FactSystem::defaultComponentId, switchParams[i])->rawValue().toInt();
         switchMappings << map;
         
@@ -155,16 +153,16 @@ void PX4AdvancedFlightModesController::_validateConfiguration(void)
     }
     
     // Make sure mode switches are not double-mapped
-    
-    QStringList attitudeParams;
-    
-    attitudeParams << "RC_MAP_THROTTLE" << "RC_MAP_YAW" << "RC_MAP_PITCH" << "RC_MAP_ROLL" << "RC_MAP_FLAPS" << "RC_MAP_AUX1" << "RC_MAP_AUX2";
 
-    for (int i=0; i<attitudeParams.count(); i++) {
+    const QStringList attitudeParams = {"RC_MAP_THROTTLE", "RC_MAP_YAW", "RC_MAP_PITCH", "RC_MAP_ROLL", "RC_MAP_FLAPS", "RC_MAP_AUX1", "RC_MAP_AUX2"};
+    for (int i=0, end = attitudeParams.count(); i < end; i++) {
         int map = getParameterFact(FactSystem::defaultComponentId, attitudeParams[i])->rawValue().toInt();
+        if (map == 0) {
+            continue;
+        }
 
         for (int j=0; j<switchParams.count(); j++) {
-            if (map != 0 && map == switchMappings[j]) {
+            if (map == switchMappings[j]) {
                 _validConfiguration = false;
                 _configurationErrors += tr("%1 is set to same channel as %2.\n").arg(switchParams[j], attitudeParams[i]);
             }
@@ -172,12 +170,7 @@ void PX4AdvancedFlightModesController::_validateConfiguration(void)
     }
     
     // Validate thresholds within range
-    
-    QStringList thresholdParams;
-    
-    thresholdParams << "RC_ASSIST_TH" << "RC_AUTO_TH" << "RC_ACRO_TH" << "RC_POSCTL_TH" << "RC_LOITER_TH" << "RC_RETURN_TH" << "RC_OFFB_TH";
-    
-    foreach(const QString &thresholdParam, thresholdParams) {
+    for(const QString &thresholdParam : {"RC_ASSIST_TH", "RC_AUTO_TH", "RC_ACRO_TH", "RC_POSCTL_TH", "RC_LOITER_TH", "RC_RETURN_TH", "RC_OFFB_TH"}) {
         float threshold = getParameterFact(-1, thresholdParam)->rawValue().toFloat();
         if (threshold < 0.0f || threshold > 1.0f) {
             _validConfiguration = false;