diff --git a/APMrover2/AP_Arming.cpp b/APMrover2/AP_Arming.cpp
index c786548131..4f284dad29 100644
--- a/APMrover2/AP_Arming.cpp
+++ b/APMrover2/AP_Arming.cpp
@@ -5,3 +5,55 @@ enum HomeState AP_Arming_Rover::home_status() const
 {
     return rover.home_is_set;
 }
+
+// perform pre_arm_rc_checks checks
+bool AP_Arming_Rover::pre_arm_rc_checks(const bool display_failure)
+{
+    // set rc-checks to success if RC checks are disabled
+    if ((checks_to_perform != ARMING_CHECK_ALL) && !(checks_to_perform & ARMING_CHECK_RC)) {
+        return true;
+    }
+
+    const RC_Channel *channels[] = {
+            rover.channel_steer,
+            rover.channel_throttle,
+    };
+    const char *channel_names[] = {"Steer", "Throttle"};
+
+    for (uint8_t i= 0 ; i < ARRAY_SIZE(channels); i++) {
+        const RC_Channel *channel = channels[i];
+        const char *channel_name = channel_names[i];
+        // check if radio has been calibrated
+        if (!channel->min_max_configured()) {
+            if (display_failure) {
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: RC %s not configured", channel_name);
+            }
+            return false;
+        }
+        if (channel->get_radio_min() > 1300) {
+            if (display_failure) {
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s radio min too high", channel_name);
+            }
+            return false;
+        }
+        if (channel->get_radio_max() < 1700) {
+            if (display_failure) {
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s radio max too low", channel_name);
+            }
+            return false;
+        }
+        if (channel->get_radio_trim() < channel->get_radio_min()) {
+            if (display_failure) {
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s radio trim below min", channel_name);
+            }
+            return false;
+        }
+        if (channel->get_radio_trim() > channel->get_radio_max()) {
+            if (display_failure) {
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s radio trim above max", channel_name);
+            }
+            return false;
+        }
+    }
+    return true;
+}
diff --git a/APMrover2/AP_Arming.h b/APMrover2/AP_Arming.h
index 8037252359..2d83c1ca29 100644
--- a/APMrover2/AP_Arming.h
+++ b/APMrover2/AP_Arming.h
@@ -14,6 +14,8 @@ public:
         AP_Arming(ahrs_ref, baro, compass, battery) {
     }
 
+    bool pre_arm_rc_checks(const bool display_failure);
+
 protected:
 
     enum HomeState home_status() const override;