diff --git a/ArduCopter/compassmot.cpp b/ArduCopter/compassmot.cpp
index c8568532bf..4c77f95c47 100644
--- a/ArduCopter/compassmot.cpp
+++ b/ArduCopter/compassmot.cpp
@@ -156,9 +156,9 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
         read_radio();
         
         // pass through throttle to motors
-        hal.rcout->cork();
+        SRV_Channels::cork();
         motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() / 1000.0f);
-        hal.rcout->push();
+        SRV_Channels::push();
         
         // read some compass values
         compass.read();
diff --git a/ArduCopter/esc_calibration.cpp b/ArduCopter/esc_calibration.cpp
index f416fb5b07..b3c670395a 100644
--- a/ArduCopter/esc_calibration.cpp
+++ b/ArduCopter/esc_calibration.cpp
@@ -116,9 +116,9 @@ void Copter::esc_calibration_passthrough()
         delay(3);
 
         // pass through to motors
-        hal.rcout->cork();
+        SRV_Channels::cork();
         motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() / 1000.0f);
-        hal.rcout->push();
+        SRV_Channels::push();
     }
 #endif  // FRAME_CONFIG != HELI_FRAME
 }
@@ -163,9 +163,9 @@ void Copter::esc_calibration_auto()
             gcs().send_text(MAV_SEVERITY_INFO,"ESC calibration: Push safety switch");
             printed_msg = true;
         }
-        hal.rcout->cork();
+        SRV_Channels::cork();
         motors->set_throttle_passthrough_for_esc_calibration(1.0f);
-        hal.rcout->push();
+        SRV_Channels::push();
         esc_calibration_notify();
         delay(3);
     }
diff --git a/ArduCopter/motors.cpp b/ArduCopter/motors.cpp
index 6cb789a4d9..79d9f27817 100644
--- a/ArduCopter/motors.cpp
+++ b/ArduCopter/motors.cpp
@@ -293,7 +293,7 @@ void Copter::motors_output()
     SRV_Channels::calc_pwm();
 
     // cork now, so that all channel outputs happen at once
-    hal.rcout->cork();
+    SRV_Channels::cork();
 
     // update output on any aux channels, for manual passthru
     SRV_Channels::output_ch_all();
@@ -316,7 +316,7 @@ void Copter::motors_output()
     }
 
     // push all channels
-    hal.rcout->push();
+    SRV_Channels::push();
 }
 
 // check for pilot stick input to trigger lost vehicle alarm