diff --git a/libraries/AP_Motors/AP_MotorsSingle.cpp b/libraries/AP_Motors/AP_MotorsSingle.cpp
index 6b97fe9945..a5d558d696 100644
--- a/libraries/AP_Motors/AP_MotorsSingle.cpp
+++ b/libraries/AP_Motors/AP_MotorsSingle.cpp
@@ -99,14 +99,14 @@ void AP_MotorsSingle::Init()
     motor_enabled[AP_MOTORS_MOT_7] = true;
 
     // we set four servos to angle
-    _servo1->set_type(RC_CHANNEL_TYPE_ANGLE);
-    _servo2->set_type(RC_CHANNEL_TYPE_ANGLE);
-    _servo3->set_type(RC_CHANNEL_TYPE_ANGLE);
-    _servo4->set_type(RC_CHANNEL_TYPE_ANGLE);
-    _servo1->set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
-    _servo2->set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
-    _servo3->set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
-    _servo4->set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
+    _servo1.set_type(RC_CHANNEL_TYPE_ANGLE);
+    _servo2.set_type(RC_CHANNEL_TYPE_ANGLE);
+    _servo3.set_type(RC_CHANNEL_TYPE_ANGLE);
+    _servo4.set_type(RC_CHANNEL_TYPE_ANGLE);
+    _servo1.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
+    _servo2.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
+    _servo3.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
+    _servo4.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
 
     // disable CH7 from being used as an aux output (i.e. for camera gimbal, etc)
     RC_Channel_aux::disable_aux_channel(CH_7);
@@ -144,27 +144,27 @@ void AP_MotorsSingle::enable()
 void AP_MotorsSingle::output_min()
 {
     // send minimum value to each motor
-    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo1->radio_trim);
-    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo2->radio_trim);
-    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo3->radio_trim);
-	hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo4->radio_trim);
-    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_7], _rc_throttle->radio_min);
+    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo1.radio_trim);
+    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo2.radio_trim);
+    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo3.radio_trim);
+	hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo4.radio_trim);
+    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_7], _rc_throttle.radio_min);
 }
 
 // output_armed - sends commands to the motors
 void AP_MotorsSingle::output_armed()
 {
-    int16_t out_min = _rc_throttle->radio_min + _min_throttle;
+    int16_t out_min = _rc_throttle.radio_min + _min_throttle;
     int16_t motor_out;  // main motor output
 
     // Throttle is 0 to 1000 only
-    _rc_throttle->servo_out = constrain_int16(_rc_throttle->servo_out, 0, _max_throttle);
+    _rc_throttle.servo_out = constrain_int16(_rc_throttle.servo_out, 0, _max_throttle);
 
     // capture desired throttle from receiver
-    _rc_throttle->calc_pwm();
+    _rc_throttle.calc_pwm();
 
     // if we are not sending a throttle output, we cut the motors
-    if(_rc_throttle->servo_out == 0) {
+    if(_rc_throttle.servo_out == 0) {
         // range check spin_when_armed
         if (_spin_when_armed < 0) {
             _spin_when_armed = 0;
@@ -173,10 +173,10 @@ void AP_MotorsSingle::output_armed()
             _spin_when_armed = _min_throttle;
         }
         
-        motor_out = _rc_throttle->radio_min + _spin_when_armed;
+        motor_out = _rc_throttle.radio_min + _spin_when_armed;
     }else{
 		//motor
-        motor_out = _rc_throttle->radio_out;
+        motor_out = _rc_throttle.radio_out;
 
 		// adjust for throttle curve
         if( _throttle_curve_enabled ) {
@@ -188,24 +188,24 @@ void AP_MotorsSingle::output_armed()
     }
 
     // front servo
-    _servo1->servo_out = _rev_roll*_rc_roll->servo_out + _rev_yaw*_rc_yaw->servo_out;
+    _servo1.servo_out = _rev_roll*_rc_roll.servo_out + _rev_yaw*_rc_yaw.servo_out;
     // right servo
-    _servo2->servo_out = _rev_pitch*_rc_pitch->servo_out + _rev_yaw*_rc_yaw->servo_out;
+    _servo2.servo_out = _rev_pitch*_rc_pitch.servo_out + _rev_yaw*_rc_yaw.servo_out;
     // rear servo
-    _servo3->servo_out = -_rev_roll*_rc_roll->servo_out + _rev_yaw*_rc_yaw->servo_out;
+    _servo3.servo_out = -_rev_roll*_rc_roll.servo_out + _rev_yaw*_rc_yaw.servo_out;
     // left servo
-    _servo4->servo_out = -_rev_pitch*_rc_pitch->servo_out + _rev_yaw*_rc_yaw->servo_out;
+    _servo4.servo_out = -_rev_pitch*_rc_pitch.servo_out + _rev_yaw*_rc_yaw.servo_out;
 
-    _servo1->calc_pwm();
-    _servo2->calc_pwm();
-    _servo3->calc_pwm();
-    _servo4->calc_pwm();
+    _servo1.calc_pwm();
+    _servo2.calc_pwm();
+    _servo3.calc_pwm();
+    _servo4.calc_pwm();
 
     // send output to each motor
-    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo1->radio_out);
-    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo2->radio_out);
-    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo3->radio_out);
-    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo4->radio_out);
+    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo1.radio_out);
+    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo2.radio_out);
+    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo3.radio_out);
+    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo4.radio_out);
     hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_7], motor_out);
 }
 
@@ -224,41 +224,41 @@ void AP_MotorsSingle::output_test()
 
     // spin main motor
     hal.scheduler->delay(1000);
-    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_7], _rc_throttle->radio_min + _min_throttle);
+    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_7], _rc_throttle.radio_min + _min_throttle);
     hal.scheduler->delay(1000);
-    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_7], _rc_throttle->radio_min);
+    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_7], _rc_throttle.radio_min);
     hal.scheduler->delay(2000);   
 
     // flap servo 1
-    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo1->radio_min);
+    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo1.radio_min);
     hal.scheduler->delay(1000);
-    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo1->radio_max);
+    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo1.radio_max);
     hal.scheduler->delay(1000);
-    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo1->radio_trim);
+    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo1.radio_trim);
     hal.scheduler->delay(2000);
 
     // flap servo 2
-    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo2->radio_min);
+    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo2.radio_min);
     hal.scheduler->delay(1000);
-    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo2->radio_max);
+    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo2.radio_max);
     hal.scheduler->delay(1000);
-    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo2->radio_trim);
+    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo2.radio_trim);
     hal.scheduler->delay(2000);
 
     // flap servo 3
-	hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo3->radio_min);
+	hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo3.radio_min);
     hal.scheduler->delay(1000);
-    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo3->radio_max);
+    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo3.radio_max);
     hal.scheduler->delay(1000);
-    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo3->radio_trim);
+    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo3.radio_trim);
     hal.scheduler->delay(2000);
 
     // flap servo 4
-	hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo4->radio_min);
+	hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo4.radio_min);
     hal.scheduler->delay(1000);
-    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo4->radio_max);
+    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo4.radio_max);
     hal.scheduler->delay(1000);
-    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo4->radio_trim);
+    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo4.radio_trim);
 
     // Send minimum values to all motors
     output_min();
diff --git a/libraries/AP_Motors/AP_MotorsSingle.h b/libraries/AP_Motors/AP_MotorsSingle.h
index c882d5365d..21693f084d 100644
--- a/libraries/AP_Motors/AP_MotorsSingle.h
+++ b/libraries/AP_Motors/AP_MotorsSingle.h
@@ -25,7 +25,7 @@ class AP_MotorsSingle : public AP_Motors {
 public:
 
     /// Constructor
-    AP_MotorsSingle( RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, RC_Channel* servo1, RC_Channel* servo2, RC_Channel* servo3, RC_Channel* servo4, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
+    AP_MotorsSingle( RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, RC_Channel& servo1, RC_Channel& servo2, RC_Channel& servo3, RC_Channel& servo4, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
         AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz),
         _servo1(servo1),
         _servo2(servo2),
@@ -62,10 +62,10 @@ protected:
     AP_Int8             _rev_pitch;     // REV pitch feedback
     AP_Int8             _rev_yaw;       // REV yaw feedback
     AP_Int16            _servo_speed;   // servo speed
-    RC_Channel*         _servo1;
-    RC_Channel*         _servo2;
-    RC_Channel*         _servo3;
-    RC_Channel*         _servo4;
+    RC_Channel&         _servo1;
+    RC_Channel&         _servo2;
+    RC_Channel&         _servo3;
+    RC_Channel&         _servo4;
 };
 
 #endif  // AP_MOTORSSINGLE