diff --git a/ArduCopterMega/motors.pde b/ArduCopterMega/motors.pde
new file mode 100644
index 0000000000..7e78f6a767
--- /dev/null
+++ b/ArduCopterMega/motors.pde
@@ -0,0 +1,219 @@
+
+#define ARM_DELAY 10
+#define DISARM_DELAY 10
+
+void arm_motors()
+{
+	static byte arming_counter;
+
+	// Arm motor output : Throttle down and full yaw right for more than 2 seconds
+	if (rc_3.control_in == 0){		
+		if (rc_4.control_in > 2700) {
+			if (arming_counter > ARM_DELAY) {
+				motor_armed = true;
+			} else{
+				arming_counter++;
+			}
+		}else if (rc_4.control_in < -2700) {
+			if (arming_counter > DISARM_DELAY){
+				motor_armed = false;
+			}else{
+				arming_counter++;
+			}			
+		}else{
+			arming_counter = 0;
+		}
+	}
+}
+
+
+
+
+/*****************************************
+ * Set the flight control servos based on the current calculated values
+ *****************************************/
+void set_servos_4(void)
+{
+	static byte num;
+	static byte counteri;
+
+	// Quadcopter mix
+	if (motor_armed == true) {
+		int out_min = rc_3.radio_min;
+		
+		// Throttle is 0 to 1000 only
+		rc_3.servo_out 	= constrain(rc_3.servo_out, 0, 1000);	
+
+		if(rc_3.servo_out > 0)
+			out_min = rc_3.radio_min + 50;
+			
+		//Serial.printf("out: %d %d %d %d\t\t", rc_1.servo_out, rc_2.servo_out, rc_3.servo_out, rc_4.servo_out);
+		
+		// creates the radio_out and pwm_out values
+		rc_1.calc_pwm();
+		rc_2.calc_pwm();
+		rc_3.calc_pwm();
+		rc_4.calc_pwm();
+
+		//Serial.printf("out: %d %d %d %d\n", rc_1.radio_out, rc_2.radio_out, rc_3.radio_out, rc_4.radio_out);
+		//Serial.printf("yaw: %d ", rc_4.radio_out);
+		
+		if(frame_type == PLUS_FRAME){
+
+			motor_out[RIGHT]	= rc_3.radio_out - rc_1.pwm_out;
+			motor_out[LEFT]		= rc_3.radio_out + rc_1.pwm_out;
+			motor_out[FRONT]	= rc_3.radio_out + rc_2.pwm_out;
+			motor_out[BACK] 	= rc_3.radio_out - rc_2.pwm_out;
+			
+		}else if(frame_type == X_FRAME){
+		
+			int roll_out 	= rc_1.pwm_out / 2;
+			int pitch_out 	= rc_2.pwm_out / 2;
+
+			motor_out[FRONT]	= rc_3.radio_out + roll_out + pitch_out;
+			motor_out[LEFT]		= rc_3.radio_out + roll_out - pitch_out;
+
+			motor_out[RIGHT]	= rc_3.radio_out - roll_out + pitch_out;
+			motor_out[BACK] 	= rc_3.radio_out - roll_out - pitch_out;
+			
+		}else if(frame_type == TRI_FRAME){
+
+			// Tri-copter power distribution
+			
+			int roll_out 	= (float)rc_1.pwm_out * .866;
+			int pitch_out 	= rc_2.pwm_out / 2;
+			
+			// front two motors
+			motor_out[LEFT]		= rc_3.radio_out + roll_out + pitch_out;
+			motor_out[RIGHT]	= rc_3.radio_out - roll_out + pitch_out;
+			
+			// rear motors
+			motor_out[BACK] 	= rc_3.radio_out - rc_2.pwm_out;
+			
+			// servo Yaw
+			//motor_out[FRONT] 	= rc_4.radio_out;
+			APM_RC.OutputCh(CH_7,rc_4.radio_out);
+
+			
+		}else if (frame_type == HEXA_FRAME) {
+
+			int roll_out 		= (float)rc_1.pwm_out * .866;
+			int pitch_out 		= rc_2.pwm_out / 2;
+			
+			motor_out[FRONT]		= rc_3.radio_out + roll_out + pitch_out + rc_4.pwm_out;  // CCW
+            motor_out[RIGHTFRONT]   = rc_3.radio_out - roll_out + pitch_out - rc_4.pwm_out;  // CW
+			motor_out[LEFT]			= rc_3.radio_out + rc_1.pwm_out - rc_4.pwm_out;          // CW
+			motor_out[RIGHT]		= rc_3.radio_out - rc_1.pwm_out + rc_4.pwm_out;          // CCW
+			
+			motor_out[LEFTBACK]     = rc_3.radio_out + roll_out - pitch_out + rc_4.pwm_out;  // CW
+			motor_out[BACK] 		= rc_3.radio_out - roll_out - pitch_out - rc_4.pwm_out;  // CCW
+			/*
+			if(counteri == 5) {
+				Serial.printf(" %d  %d \n%d    %d        %d   %d \n %d  %d \n\n", motor_out[FRONT], motor_out[RIGHTFRONT], motor_out[LEFT], motor_out[RIGHT], roll_out, pitch_out, motor_out[LEFTBACK], motor_out[BACK]);
+				counteri = 0;
+			}
+			counteri++;		
+			*/
+                } else {
+		
+			Serial.print("frame error");
+			
+		}
+		
+		//Serial.printf("\tb4: %d %d %d %d ", motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]);
+
+		if((frame_type == PLUS_FRAME) || (frame_type == X_FRAME)){
+		
+			motor_out[RIGHT]	+=  rc_4.pwm_out;
+			motor_out[LEFT]		+=  rc_4.pwm_out;
+			motor_out[FRONT]	-=  rc_4.pwm_out;
+			motor_out[BACK] 	-=  rc_4.pwm_out;
+			
+		}
+		
+		//Serial.printf("\tl8r: %d %d %d %d\n", motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]);
+
+		motor_out[RIGHT]	= constrain(motor_out[RIGHT], 	out_min, rc_3.radio_max);
+		motor_out[LEFT]		= constrain(motor_out[LEFT], 	out_min, rc_3.radio_max);
+		motor_out[FRONT]	= constrain(motor_out[FRONT], 	out_min, rc_3.radio_max);
+		motor_out[BACK] 	= constrain(motor_out[BACK], 	out_min, rc_3.radio_max);
+				
+		
+		num++;
+		if (num > 50){
+			num = 0;
+			
+			//debugging with Channel 6
+			
+			/*
+			// ROLL and PITCH 
+			// make sure you init_pids() after changing the kP
+			pid_stabilize_roll.kP((float)rc_6.control_in / 1000);
+			init_pids();
+			//Serial.print("kP: ");
+			//Serial.println(pid_stabilize_roll.kP(),3);
+			*/
+
+			/*
+			// YAW
+			// make sure you init_pids() after changing the kP
+			pid_yaw.kP((float)rc_6.control_in / 1000);
+			init_pids();
+			*/			
+		}
+		
+		// Send commands to motors
+		if(rc_3.servo_out > 0){
+		
+			APM_RC.OutputCh(CH_1, motor_out[RIGHT]);
+			APM_RC.OutputCh(CH_2, motor_out[LEFT]);
+			APM_RC.OutputCh(CH_3, motor_out[FRONT]);
+			APM_RC.OutputCh(CH_4, motor_out[BACK]);
+			// InstantPWM
+			APM_RC.Force_Out0_Out1();
+			APM_RC.Force_Out2_Out3();
+
+			if (frame_type == HEXA_FRAME) {
+				APM_RC.OutputCh(CH_7, motor_out[RIGHTFRONT]);
+				APM_RC.OutputCh(CH_8, motor_out[LEFTBACK]);
+				APM_RC.Force_Out6_Out7();
+			}
+			
+		}else{
+		
+			APM_RC.OutputCh(CH_1, rc_3.radio_min);
+			APM_RC.OutputCh(CH_2, rc_3.radio_min);
+			APM_RC.OutputCh(CH_3, rc_3.radio_min);
+			APM_RC.OutputCh(CH_4, rc_3.radio_min);
+			// InstantPWM
+			APM_RC.Force_Out0_Out1();
+			APM_RC.Force_Out2_Out3();
+
+			if (frame_type == HEXA_FRAME) {
+				APM_RC.OutputCh(CH_7, rc_3.radio_min);
+				APM_RC.OutputCh(CH_8, rc_3.radio_min);
+				APM_RC.Force_Out6_Out7();
+			}
+		}
+	
+		
+	}else{
+	
+		// Send commands to motors
+		APM_RC.OutputCh(CH_1, rc_3.radio_min);
+		APM_RC.OutputCh(CH_2, rc_3.radio_min);
+		APM_RC.OutputCh(CH_3, rc_3.radio_min);
+		APM_RC.OutputCh(CH_4, rc_3.radio_min);
+
+		if (frame_type == HEXA_FRAME) {
+			APM_RC.OutputCh(CH_7, rc_3.radio_min);
+			APM_RC.OutputCh(CH_8, rc_3.radio_min);
+		}
+		
+		// reset I terms of PID controls
+		reset_I();
+		
+		// Initialize yaw command to actual yaw when throttle is down...
+		rc_4.control_in = ToDeg(yaw);
+	}
+ }
diff --git a/ArduCopterMega/radio.pde b/ArduCopterMega/radio.pde
index 4532cdbaf3..87e6c5830b 100644
--- a/ArduCopterMega/radio.pde
+++ b/ArduCopterMega/radio.pde
@@ -74,221 +74,3 @@ void trim_yaw()
 	}
 	rc_4.trim();	// yaw
 }
-
-#define ARM_DELAY 10
-#define DISARM_DELAY 10
-
-void arm_motors()
-{
-	static byte arming_counter;
-
-	// Arm motor output : Throttle down and full yaw right for more than 2 seconds
-	if (rc_3.control_in == 0){		
-		if (rc_4.control_in > 2700) {
-			if (arming_counter > ARM_DELAY) {
-				motor_armed = true;
-			} else{
-				arming_counter++;
-			}
-		}else if (rc_4.control_in < -2700) {
-			if (arming_counter > DISARM_DELAY){
-				motor_armed = false;
-			}else{
-				arming_counter++;
-			}			
-		}else{
-			arming_counter = 0;
-		}
-	}
-}
-
-
-
-
-/*****************************************
- * Set the flight control servos based on the current calculated values
- *****************************************/
-void set_servos_4(void)
-{
-	static byte num;
-
-
-	// Quadcopter mix
-	if (motor_armed == true) {
-		int out_min = rc_3.radio_min;
-		
-		// Throttle is 0 to 1000 only
-		rc_3.servo_out 	= constrain(rc_3.servo_out, 0, 1000);	
-
-		if(rc_3.servo_out > 0)
-			out_min = rc_3.radio_min + 50;
-			
-		//Serial.printf("out: %d %d %d %d\t\t", rc_1.servo_out, rc_2.servo_out, rc_3.servo_out, rc_4.servo_out);
-		
-		// creates the radio_out and pwm_out values
-		rc_1.calc_pwm();
-		rc_2.calc_pwm();
-		rc_3.calc_pwm();
-		rc_4.calc_pwm();
-
-		//Serial.printf("out: %d %d %d %d\n", rc_1.radio_out, rc_2.radio_out, rc_3.radio_out, rc_4.radio_out);
-		//Serial.printf("yaw: %d ", rc_4.radio_out);
-		
-		if(frame_type == PLUS_FRAME){
-
-			motor_out[RIGHT]	= rc_3.radio_out - rc_1.pwm_out;
-			motor_out[LEFT]		= rc_3.radio_out + rc_1.pwm_out;
-			motor_out[FRONT]	= rc_3.radio_out + rc_2.pwm_out;
-			motor_out[BACK] 	= rc_3.radio_out - rc_2.pwm_out;
-			
-		}else if(frame_type == X_FRAME){
-		
-			int roll_out 	= rc_1.pwm_out / 2;
-			int pitch_out 	= rc_2.pwm_out / 2;
-
-			motor_out[FRONT]	= rc_3.radio_out + roll_out + pitch_out;
-			motor_out[LEFT]		= rc_3.radio_out + roll_out - pitch_out;
-
-			motor_out[RIGHT]	= rc_3.radio_out - roll_out + pitch_out;
-			motor_out[BACK] 	= rc_3.radio_out - roll_out - pitch_out;
-			
-		}else if(frame_type == TRI_FRAME){
-
-			// Tri-copter power distribution
-			
-			int roll_out 	= (float)rc_1.pwm_out * .866;
-			int pitch_out 	= rc_2.pwm_out / 2;
-			
-			// front two motors
-			motor_out[LEFT]		= rc_3.radio_out + roll_out + pitch_out;
-			motor_out[RIGHT]	= rc_3.radio_out - roll_out + pitch_out;
-			
-			// rear motors
-			motor_out[BACK] 	= rc_3.radio_out - rc_2.pwm_out;
-			
-			// servo Yaw
-			//motor_out[FRONT] 	= rc_4.radio_out;
-			APM_RC.OutputCh(CH_7,rc_4.radio_out);
-
-			
-		}else if (frame_type == HEXA_FRAME) {
-
-//  			int roll_out 	= rc_1.pwm_out / 2;
-//			int pitch_out 	= rc_2.pwm_out / 2;
-
-			int roll_out 	= (float)rc_1.pwm_out * .866;
-			int pitch_out 	= rc_2.pwm_out / 2;
-
-			motor_out[FRONT]	= rc_3.radio_out + roll_out + pitch_out + rc_4.pwm_out;  // CCW
-                        motor_out[RIGHTFRONT]   = rc_3.radio_out - roll_out + pitch_out - rc_4.pwm_out;  // CW
-
-			motor_out[LEFT]		= rc_3.radio_out + rc_1.pwm_out - rc_4.pwm_out;          // CW
-			motor_out[RIGHT]	= rc_3.radio_out - rc_1.pwm_out + rc_4.pwm_out;          // CCW
-
-                        motor_out[LEFTBACK]     = rc_3.radio_out + roll_out - pitch_out + rc_4.pwm_out;  // CW
-			motor_out[BACK] 	= rc_3.radio_out - roll_out - pitch_out - rc_4.pwm_out;  // CCW
-/*
-  
-            if(counteri == 5) {
-  		Serial.printf(" %d  %d \n%d    %d        %d   %d \n %d  %d \n\n", motor_out[FRONT], motor_out[RIGHTFRONT], motor_out[LEFT], motor_out[RIGHT], roll_out, pitch_out, motor_out[LEFTBACK], motor_out[BACK]);
-                counteri = 0;
-            }
-            counteri++;
-            
-*/
-                } else {
-		
-			Serial.print("frame error");
-			
-		}
-		
-		//Serial.printf("\tb4: %d %d %d %d ", motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]);
-
-		if((frame_type == PLUS_FRAME) || (frame_type == X_FRAME)){
-		
-			motor_out[RIGHT]	+=  rc_4.pwm_out;
-			motor_out[LEFT]		+=  rc_4.pwm_out;
-			motor_out[FRONT]	-=  rc_4.pwm_out;
-			motor_out[BACK] 	-=  rc_4.pwm_out;
-			
-		}
-		
-		//Serial.printf("\tl8r: %d %d %d %d\n", motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]);
-
-		motor_out[RIGHT]	= constrain(motor_out[RIGHT], 	out_min, rc_3.radio_max);
-		motor_out[LEFT]		= constrain(motor_out[LEFT], 	out_min, rc_3.radio_max);
-		motor_out[FRONT]	= constrain(motor_out[FRONT], 	out_min, rc_3.radio_max);
-		motor_out[BACK] 	= constrain(motor_out[BACK], 	out_min, rc_3.radio_max);
-				
-		
-		num++;
-		if (num > 50){
-			num = 0;
-			
-			//debugging with Channel 6
-			
-			/*
-			// ROLL and PITCH 
-			// make sure you init_pids() after changing the kP
-			pid_stabilize_roll.kP((float)rc_6.control_in / 1000);
-			init_pids();
-			//Serial.print("kP: ");
-			//Serial.println(pid_stabilize_roll.kP(),3);
-			*/
-
-			/*
-			// YAW
-			// make sure you init_pids() after changing the kP
-			pid_yaw.kP((float)rc_6.control_in / 1000);
-			init_pids();
-			*/			
-		}
-		
-		// Send commands to motors
-		if(rc_3.servo_out > 0){
-		
-			APM_RC.OutputCh(CH_1, motor_out[RIGHT]);
-			APM_RC.OutputCh(CH_2, motor_out[LEFT]);
-			APM_RC.OutputCh(CH_3, motor_out[FRONT]);
-			APM_RC.OutputCh(CH_4, motor_out[BACK]);
-
-                  if (frame_type == HEXA_FRAME) {
-                        APM_RC.OutputCh(CH_7, motor_out[RIGHTFRONT]);
-                        APM_RC.OutputCh(CH_8, motor_out[LEFTBACK]);
-                  }
-
-			
-		}else{
-		
-			APM_RC.OutputCh(CH_1, rc_3.radio_min);
-			APM_RC.OutputCh(CH_2, rc_3.radio_min);
-			APM_RC.OutputCh(CH_3, rc_3.radio_min);
-			APM_RC.OutputCh(CH_4, rc_3.radio_min);
-
-                  if (frame_type == HEXA_FRAME) {
-                        APM_RC.OutputCh(CH_7, rc_3.radio_min);
-                        APM_RC.OutputCh(CH_8, rc_3.radio_min);
-                  }
-
-			
-		}
-	
-		// InstantPWM
-		APM_RC.Force_Out0_Out1();
-		APM_RC.Force_Out2_Out3();
-		
-	}else{
-	
-		// Send commands to motors
-		APM_RC.OutputCh(CH_1, rc_3.radio_min);
-		APM_RC.OutputCh(CH_2, rc_3.radio_min);
-		APM_RC.OutputCh(CH_3, rc_3.radio_min);
-		APM_RC.OutputCh(CH_4, rc_3.radio_min);
-		
-		// reset I terms of PID controls
-		reset_I();
-		
-		// Initialize yaw command to actual yaw when throttle is down...
-		rc_4.control_in = ToDeg(yaw);
-	}
- }