diff --git a/ArduCopter/afs_copter.cpp b/ArduCopter/afs_copter.cpp
index 6f76d74263..27330a6513 100644
--- a/ArduCopter/afs_copter.cpp
+++ b/ArduCopter/afs_copter.cpp
@@ -25,25 +25,25 @@ void AP_AdvancedFailsafe_Copter::terminate_vehicle(void)
     copter.init_disarm_motors();
     
     // and set all aux channels
-    RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_heli_rsc, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
-    RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_heli_tail_rsc, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
-    RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_engine_run_enable, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
-    RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_ignition, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
-    RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_none, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
-    RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_manual, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
+    SRV_Channels::set_output_limit(SRV_Channel::k_heli_rsc, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+    SRV_Channels::set_output_limit(SRV_Channel::k_heli_tail_rsc, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+    SRV_Channels::set_output_limit(SRV_Channel::k_engine_run_enable, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+    SRV_Channels::set_output_limit(SRV_Channel::k_ignition, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+    SRV_Channels::set_output_limit(SRV_Channel::k_none, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+    SRV_Channels::set_output_limit(SRV_Channel::k_manual, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
 
-    RC_Channel_aux::output_ch_all();
+    SRV_Channels::output_ch_all();
 }
 
 void AP_AdvancedFailsafe_Copter::setup_IO_failsafe(void)
 {
     // setup failsafe for all aux channels
-    RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_heli_rsc, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
-    RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_heli_tail_rsc, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
-    RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_engine_run_enable, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
-    RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_ignition, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
-    RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_none, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
-    RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_manual, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
+    SRV_Channels::set_failsafe_limit(SRV_Channel::k_heli_rsc, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+    SRV_Channels::set_failsafe_limit(SRV_Channel::k_heli_tail_rsc, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+    SRV_Channels::set_failsafe_limit(SRV_Channel::k_engine_run_enable, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+    SRV_Channels::set_failsafe_limit(SRV_Channel::k_ignition, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+    SRV_Channels::set_failsafe_limit(SRV_Channel::k_none, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+    SRV_Channels::set_failsafe_limit(SRV_Channel::k_manual, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
 
 #if FRAME_CONFIG != HELI_FRAME
     // setup AP_Motors outputs for failsafe