diff --git a/libraries/AP_Motors/AP_MotorsCoax.cpp b/libraries/AP_Motors/AP_MotorsCoax.cpp
index ea18c7dc2a..1c1f7ca18c 100644
--- a/libraries/AP_Motors/AP_MotorsCoax.cpp
+++ b/libraries/AP_Motors/AP_MotorsCoax.cpp
@@ -72,18 +72,6 @@ void AP_MotorsCoax::set_update_rate( uint16_t speed_hz )
     rc_set_freq(mask, _speed_hz);
 }
 
-// enable - starts allowing signals to be sent to motors
-void AP_MotorsCoax::enable()
-{
-    // enable output channels
-    rc_enable_ch(AP_MOTORS_MOT_1);
-    rc_enable_ch(AP_MOTORS_MOT_2);
-    rc_enable_ch(AP_MOTORS_MOT_3);
-    rc_enable_ch(AP_MOTORS_MOT_4);
-    rc_enable_ch(AP_MOTORS_MOT_5);
-    rc_enable_ch(AP_MOTORS_MOT_6);
-}
-
 void AP_MotorsCoax::output_to_motors()
 {
     switch (_spool_mode) {
diff --git a/libraries/AP_Motors/AP_MotorsCoax.h b/libraries/AP_Motors/AP_MotorsCoax.h
index 98f7ddc1df..b4ba1efd52 100644
--- a/libraries/AP_Motors/AP_MotorsCoax.h
+++ b/libraries/AP_Motors/AP_MotorsCoax.h
@@ -37,9 +37,6 @@ public:
     // set update rate to motors - a value in hertz
     void                set_update_rate( uint16_t speed_hz );
 
-    // enable - starts allowing signals to be sent to motors
-    virtual void        enable();
-
     // output_test - spin a motor at the pwm value specified
     //  motor_seq is the motor's sequence number from 1 to the number of motors on the frame
     //  pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h
index fff7f40032..101e68a459 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.h
+++ b/libraries/AP_Motors/AP_MotorsHeli.h
@@ -68,9 +68,6 @@ public:
     // set update rate to motors - a value in hertz
     virtual void set_update_rate( uint16_t speed_hz ) = 0;
 
-    // enable - starts allowing signals to be sent to motors
-    virtual void enable() = 0;
-
     // output_min - sets servos to neutral point with motors stopped
     void output_min();
 
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
index 3b60b5d6ca..493710fd45 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
@@ -193,20 +193,6 @@ void AP_MotorsHeli_Dual::set_update_rate( uint16_t speed_hz )
     rc_set_freq(mask, _speed_hz);
 }
 
-// enable - starts allowing signals to be sent to motors
-void AP_MotorsHeli_Dual::enable()
-{
-    // enable output channels
-    rc_enable_ch(AP_MOTORS_MOT_1);
-    rc_enable_ch(AP_MOTORS_MOT_2);
-    rc_enable_ch(AP_MOTORS_MOT_3);
-    rc_enable_ch(AP_MOTORS_MOT_4);
-    rc_enable_ch(AP_MOTORS_MOT_5);
-    rc_enable_ch(AP_MOTORS_MOT_6);
-
-    rc_enable_ch(AP_MOTORS_HELI_DUAL_RSC);
-}
-
 // init_outputs
 bool AP_MotorsHeli_Dual::init_outputs()
 {
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Dual.h b/libraries/AP_Motors/AP_MotorsHeli_Dual.h
index 87c62696e1..a83f8c1602 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Dual.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_Dual.h
@@ -54,9 +54,6 @@ public:
     // set_update_rate - set update rate to motors
     void set_update_rate( uint16_t speed_hz ) override;
 
-    // enable - starts allowing signals to be sent to motors
-    void enable() override;
-
     // output_test - spin a motor at the pwm value specified
     void output_test(uint8_t motor_seq, int16_t pwm) override;
 
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
index 7c7bc69945..b80ef7b2da 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
@@ -157,18 +157,6 @@ void AP_MotorsHeli_Single::set_update_rate( uint16_t speed_hz )
     rc_set_freq(mask, _speed_hz);
 }
 
-// enable - starts allowing signals to be sent to motors and servos
-void AP_MotorsHeli_Single::enable()
-{
-    // enable output channels
-    rc_enable_ch(AP_MOTORS_MOT_1);    // swash servo 1
-    rc_enable_ch(AP_MOTORS_MOT_2);    // swash servo 2
-    rc_enable_ch(AP_MOTORS_MOT_3);    // swash servo 3
-    rc_enable_ch(AP_MOTORS_MOT_4);    // yaw
-    rc_enable_ch(AP_MOTORS_HELI_SINGLE_AUX);                                 // output for gyro gain or direct drive variable pitch tail motor
-    rc_enable_ch(AP_MOTORS_HELI_SINGLE_RSC);                                 // output for main rotor esc
-}
-
 // init_outputs - initialise Servo/PWM ranges and endpoints
 bool AP_MotorsHeli_Single::init_outputs()
 {
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.h b/libraries/AP_Motors/AP_MotorsHeli_Single.h
index 04befe2b4c..004c9e2c81 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.h
@@ -57,9 +57,6 @@ public:
     // set update rate to motors - a value in hertz
     void set_update_rate(uint16_t speed_hz) override;
 
-    // enable - starts allowing signals to be sent to motors and servos
-    void enable() override;
-
     // output_test - spin a motor at the pwm value specified
     //  motor_seq is the motor's sequence number from 1 to the number of motors on the frame
     //  pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp
index 0d79b069f7..eab36c53aa 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp
@@ -72,19 +72,6 @@ void AP_MotorsMatrix::set_frame_class_and_type(motor_frame_class frame_class, mo
     set_update_rate(_speed_hz);
 }
 
-// enable - starts allowing signals to be sent to motors
-void AP_MotorsMatrix::enable()
-{
-    int8_t i;
-
-    // enable output channels
-    for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
-        if( motor_enabled[i] ) {
-            rc_enable_ch(i);
-        }
-    }
-}
-
 void AP_MotorsMatrix::output_to_motors()
 {
     int8_t i;
diff --git a/libraries/AP_Motors/AP_MotorsMatrix.h b/libraries/AP_Motors/AP_MotorsMatrix.h
index ac9a3d78c2..65cab404fc 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.h
+++ b/libraries/AP_Motors/AP_MotorsMatrix.h
@@ -29,9 +29,6 @@ public:
     // you must have setup_motors before calling this
     void                set_update_rate(uint16_t speed_hz);
 
-    // enable - starts allowing signals to be sent to motors
-    void                enable();
-
     // output_test - spin a motor at the pwm value specified
     //  motor_seq is the motor's sequence number from 1 to the number of motors on the frame
     //  pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
diff --git a/libraries/AP_Motors/AP_MotorsSingle.cpp b/libraries/AP_Motors/AP_MotorsSingle.cpp
index afc1ba3b6b..377296a900 100644
--- a/libraries/AP_Motors/AP_MotorsSingle.cpp
+++ b/libraries/AP_Motors/AP_MotorsSingle.cpp
@@ -78,18 +78,6 @@ void AP_MotorsSingle::set_update_rate( uint16_t speed_hz )
     rc_set_freq(mask, _speed_hz);
 }
 
-// enable - starts allowing signals to be sent to motors
-void AP_MotorsSingle::enable()
-{
-    // enable output channels
-    rc_enable_ch(AP_MOTORS_MOT_1);
-    rc_enable_ch(AP_MOTORS_MOT_2);
-    rc_enable_ch(AP_MOTORS_MOT_3);
-    rc_enable_ch(AP_MOTORS_MOT_4);
-    rc_enable_ch(AP_MOTORS_MOT_5);
-    rc_enable_ch(AP_MOTORS_MOT_6);
-}
-
 void AP_MotorsSingle::output_to_motors()
 {
     if (!_flags.initialised_ok) {
diff --git a/libraries/AP_Motors/AP_MotorsSingle.h b/libraries/AP_Motors/AP_MotorsSingle.h
index d0626ea016..81daed2606 100644
--- a/libraries/AP_Motors/AP_MotorsSingle.h
+++ b/libraries/AP_Motors/AP_MotorsSingle.h
@@ -37,9 +37,6 @@ public:
     // set update rate to motors - a value in hertz
     void                set_update_rate( uint16_t speed_hz );
 
-    // enable - starts allowing signals to be sent to motors
-    virtual void        enable();
-
     // output_test - spin a motor at the pwm value specified
     //  motor_seq is the motor's sequence number from 1 to the number of motors on the frame
     //  pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
diff --git a/libraries/AP_Motors/AP_MotorsTailsitter.h b/libraries/AP_Motors/AP_MotorsTailsitter.h
index cbd3c9e263..13dfd63718 100644
--- a/libraries/AP_Motors/AP_MotorsTailsitter.h
+++ b/libraries/AP_Motors/AP_MotorsTailsitter.h
@@ -20,7 +20,6 @@ public:
     // set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
     void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) {}
     void set_update_rate( uint16_t speed_hz ) {}
-    void enable() {}
 
     void output_test(uint8_t motor_seq, int16_t pwm) {}
 
diff --git a/libraries/AP_Motors/AP_MotorsTri.cpp b/libraries/AP_Motors/AP_MotorsTri.cpp
index 83f92f4ee9..a3c613173d 100644
--- a/libraries/AP_Motors/AP_MotorsTri.cpp
+++ b/libraries/AP_Motors/AP_MotorsTri.cpp
@@ -75,16 +75,6 @@ void AP_MotorsTri::set_update_rate( uint16_t speed_hz )
     rc_set_freq(mask, _speed_hz);
 }
 
-// enable - starts allowing signals to be sent to motors
-void AP_MotorsTri::enable()
-{
-    // enable output channels
-    rc_enable_ch(AP_MOTORS_MOT_1);
-    rc_enable_ch(AP_MOTORS_MOT_2);
-    rc_enable_ch(AP_MOTORS_MOT_4);
-    rc_enable_ch(AP_MOTORS_CH_TRI_YAW);
-}
-
 void AP_MotorsTri::output_to_motors()
 {
     switch (_spool_mode) {
diff --git a/libraries/AP_Motors/AP_MotorsTri.h b/libraries/AP_Motors/AP_MotorsTri.h
index fa893ea603..f572f9207f 100644
--- a/libraries/AP_Motors/AP_MotorsTri.h
+++ b/libraries/AP_Motors/AP_MotorsTri.h
@@ -32,9 +32,6 @@ public:
     // set update rate to motors - a value in hertz
     void                set_update_rate( uint16_t speed_hz );
 
-    // enable - starts allowing signals to be sent to motors
-    virtual void        enable();
-
     // output_test - spin a motor at the pwm value specified
     //  motor_seq is the motor's sequence number from 1 to the number of motors on the frame
     //  pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
diff --git a/libraries/AP_Motors/AP_Motors_Class.cpp b/libraries/AP_Motors/AP_Motors_Class.cpp
index ad1a283332..8f37f5a9ca 100644
--- a/libraries/AP_Motors/AP_Motors_Class.cpp
+++ b/libraries/AP_Motors/AP_Motors_Class.cpp
@@ -125,15 +125,6 @@ void AP_Motors::rc_set_freq(uint32_t mask, uint16_t freq_hz)
     }
 }
 
-void AP_Motors::rc_enable_ch(uint8_t chan)
-{
-    if (_motor_map_mask & (1U<<chan)) {
-        // we have a mapped motor number for this channel
-        chan = _motor_map[chan];
-    }
-    hal.rcout->enable_ch(chan);
-}
-
 /*
   map an internal motor mask to real motor mask
  */
diff --git a/libraries/AP_Motors/AP_Motors_Class.h b/libraries/AP_Motors/AP_Motors_Class.h
index 8738245d95..3ed5dffb38 100644
--- a/libraries/AP_Motors/AP_Motors_Class.h
+++ b/libraries/AP_Motors/AP_Motors_Class.h
@@ -141,9 +141,6 @@ public:
     // set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
     virtual void        set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) = 0;
 
-    // enable - starts allowing signals to be sent to motors
-    virtual void        enable() = 0;
-
     // output - sends commands to the motors
     virtual void        output() = 0;
 
@@ -173,7 +170,6 @@ protected:
     virtual void        output_armed_stabilizing()=0;
     virtual void        rc_write(uint8_t chan, uint16_t pwm);
     virtual void        rc_set_freq(uint32_t mask, uint16_t freq_hz);
-    virtual void        rc_enable_ch(uint8_t chan);
     virtual uint32_t    rc_map_mask(uint32_t mask) const;
 
     // add a motor to the motor map
diff --git a/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp b/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
index de3c206387..1a9a7c0af9 100644
--- a/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
+++ b/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
@@ -29,6 +29,7 @@
 #include <AP_BattMonitor/AP_BattMonitor.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>
 #include <AP_Scheduler/AP_Scheduler.h>
+#include <SRV_Channel/SRV_Channel.h>
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
@@ -64,7 +65,6 @@ void setup()
     motors.set_throttle_range(1000,2000);
     motors.set_throttle_avg_max(0.5f);
 #endif
-    motors.enable();
     motors.output_min();
 
     // setup radio
@@ -138,6 +138,7 @@ void stability_test()
     // arm motors
     motors.armed(true);
     motors.set_interlock(true);
+    SRV_Channels::enable_aux_servos();
 
 #if NUM_OUTPUTS <= 4
     hal.console->printf("Roll,Pitch,Yaw,Thr,Mot1,Mot2,Mot3,Mot4,AvgOut,LimRP,LimY,LimThD,LimThU\n");                       // quad