diff --git a/ArduCopter/radio.pde b/ArduCopter/radio.pde
index a907c04fb8..5f37ee6a0f 100644
--- a/ArduCopter/radio.pde
+++ b/ArduCopter/radio.pde
@@ -100,6 +100,7 @@ static void init_rc_out()
 
 void output_min()
 {
+  motors_output_enable();
     #if FRAME_CONFIG ==	HELI_FRAME
         heli_move_servos_to_mid();
 	#else
diff --git a/ArduCopter/setup.pde b/ArduCopter/setup.pde
index 3b7ed57455..96e65b9c29 100644
--- a/ArduCopter/setup.pde
+++ b/ArduCopter/setup.pde
@@ -1096,6 +1096,7 @@ static void print_enabled(boolean b)
 static void
 init_esc()
 {
+  motors_output_enable();
 	while(1){
 		read_radio();
 		delay(100);