diff --git a/ArduCopter/esc_calibration.cpp b/ArduCopter/esc_calibration.cpp
index 9eaeaaf114..0c96cac7eb 100644
--- a/ArduCopter/esc_calibration.cpp
+++ b/ArduCopter/esc_calibration.cpp
@@ -19,6 +19,13 @@ enum ESCCalibrationModes {
 void Copter::esc_calibration_startup_check()
 {
 #if FRAME_CONFIG != HELI_FRAME
+    // delay up to 2 second for first radio input
+    uint8_t i = 0;
+    while ((i++ < 100) && (last_radio_update_ms == 0)) {
+        delay(20);
+        read_radio();
+    }
+
     // exit immediately if pre-arm rc checks fail
     arming.pre_arm_rc_checks(true);
     if (!ap.pre_arm_rc_check) {
diff --git a/ArduCopter/radio.cpp b/ArduCopter/radio.cpp
index e87b076016..1054e3b8d4 100644
--- a/ArduCopter/radio.cpp
+++ b/ArduCopter/radio.cpp
@@ -59,13 +59,6 @@ void Copter::init_rc_out()
     hal.rcout->set_esc_scaling(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
 #endif
 
-    // delay up to 2 second for first radio input
-    uint8_t i = 0;
-    while ((i++ < 100) && (last_radio_update_ms == 0)) {
-        delay(20);
-        read_radio();
-    }
-
     // check if we should enter esc calibration mode
     esc_calibration_startup_check();