diff --git a/Rover/mode.cpp b/Rover/mode.cpp
index f4bd7dfc30929..9dcbf757bd745 100644
--- a/Rover/mode.cpp
+++ b/Rover/mode.cpp
@@ -121,11 +121,17 @@ void Mode::get_pilot_desired_steering_and_throttle(float &steering_out, float &t
 
     // check for special case of input and output throttle being in opposite directions
     float throttle_out_limited = g2.motors.get_slew_limited_throttle(throttle_out, rover.G_Dt);
-    if ((is_negative(throttle_out) != is_negative(throttle_out_limited)) &&
-        ((g.pilot_steer_type == PILOT_STEER_TYPE_DEFAULT) ||
-         (g.pilot_steer_type == PILOT_STEER_TYPE_DIR_REVERSED_WHEN_REVERSING))) {
-        steering_out *= -1;
+    if (is_negative(throttle_out) != is_negative(throttle_out_limited)) {
+        switch (g.pilot_steer_type) {
+        case PILOT_STEER_TYPE_DEFAULT:
+        case PILOT_STEER_TYPE_DIR_REVERSED_WHEN_REVERSING:
+            steering_out *= -1;
+            break;
+        default:
+            break;
+        }
     }
+
     throttle_out = throttle_out_limited;
 }
 
@@ -137,11 +143,17 @@ void Mode::get_pilot_desired_steering_and_speed(float &steering_out, float &spee
     speed_out = desired_throttle * 0.01f * calc_speed_max(g.speed_cruise, g.throttle_cruise * 0.01f);
     // check for special case of input and output throttle being in opposite directions
     float speed_out_limited = g2.attitude_control.get_desired_speed_accel_limited(speed_out, rover.G_Dt);
-    if ((is_negative(speed_out) != is_negative(speed_out_limited)) &&
-        ((g.pilot_steer_type == PILOT_STEER_TYPE_DEFAULT) ||
-         (g.pilot_steer_type == PILOT_STEER_TYPE_DIR_REVERSED_WHEN_REVERSING))) {
-        steering_out *= -1;
+    if (is_negative(speed_out) != is_negative(speed_out_limited)) {
+        switch (g.pilot_steer_type) {
+        case PILOT_STEER_TYPE_DEFAULT:
+        case PILOT_STEER_TYPE_DIR_REVERSED_WHEN_REVERSING:
+            steering_out *= -1;
+            break;
+        default:
+            break;
+        }
     }
+
     speed_out = speed_out_limited;
 }
 
diff --git a/libraries/AP_Param/AP_Param.cpp b/libraries/AP_Param/AP_Param.cpp
index d25e801778ef6..4424e66a9ce4e 100644
--- a/libraries/AP_Param/AP_Param.cpp
+++ b/libraries/AP_Param/AP_Param.cpp
@@ -2205,23 +2205,33 @@ void AP_Param::set_float(float value, enum ap_var_type var_type)
     float rounding_addition = 0.01f;
         
     // handle variables with standard type IDs
-    if (var_type == AP_PARAM_FLOAT) {
+    switch (var_type) {
+    case AP_PARAM_FLOAT:
         ((AP_Float *)this)->set(value);
-    } else if (var_type == AP_PARAM_INT32) {
+        break;
+    case AP_PARAM_INT32: {
         if (value < 0) rounding_addition = -rounding_addition;
         float v = value+rounding_addition;
         v = constrain_float(v, INT32_MIN, INT32_MAX);
         ((AP_Int32 *)this)->set(v);
-    } else if (var_type == AP_PARAM_INT16) {
+        break;
+    }
+    case AP_PARAM_INT16: {
         if (value < 0) rounding_addition = -rounding_addition;
         float v = value+rounding_addition;
         v = constrain_float(v, INT16_MIN, INT16_MAX);
         ((AP_Int16 *)this)->set(v);
-    } else if (var_type == AP_PARAM_INT8) {
+        break;
+    }
+    case AP_PARAM_INT8: {
         if (value < 0) rounding_addition = -rounding_addition;
         float v = value+rounding_addition;
         v = constrain_float(v, INT8_MIN, INT8_MAX);
         ((AP_Int8 *)this)->set(v);
+        break;
+    }
+    default:
+        break;
     }
 }