diff --git a/libraries/RC_Channel/examples/RC_Channel/RC_Channel.pde b/libraries/RC_Channel/examples/RC_Channel/RC_Channel.pde
index fbec4b3397..9361b75638 100644
--- a/libraries/RC_Channel/examples/RC_Channel/RC_Channel.pde
+++ b/libraries/RC_Channel/examples/RC_Channel/RC_Channel.pde
@@ -1,8 +1,6 @@
 /*
  *       Example of RC_Channel library.
- *       Code by Jason Short. 2010
- *       DIYDrones.com
- *
+ *       Based on original sketch by Jason Short. 2010
  */
 #define CH_1 0
 #define CH_2 1
@@ -20,40 +18,59 @@
 #include <StorageManager.h>
 #include <AP_Math.h>
 #include <RC_Channel.h>
-
 #include <AP_HAL_AVR.h>
 #include <AP_HAL_AVR_SITL.h>
+#include <AP_HAL_PX4.h>
 #include <AP_HAL_Empty.h>
+#include <AP_Baro.h>
+#include <AP_ADC.h>
+#include <AP_GPS.h>
+#include <AP_InertialSensor.h>
+#include <AP_Notify.h>
+#include <DataFlash.h>
+#include <GCS_MAVLink.h>
+#include <AP_Mission.h>
+#include <StorageManager.h>
+#include <AP_Terrain.h>
+#include <AP_Compass.h>
+#include <AP_Declination.h>
+#include <SITL.h>
+#include <Filter.h>
+#include <AP_AHRS.h>
+#include <AP_Airspeed.h>
+#include <AP_Vehicle.h>
+#include <AP_ADC_AnalogSource.h>
+#include <AP_NavEKF.h>
+#include <AP_Rally.h>
+#include <AP_Scheduler.h>
+#include <UARTDriver.h>
 
 const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
-RC_Channel rc_1(CH_1);
-RC_Channel rc_2(CH_2);
-RC_Channel rc_3(CH_3);
-RC_Channel rc_4(CH_4);
-RC_Channel rc_5(CH_5);
-RC_Channel rc_6(CH_6);
-RC_Channel rc_7(CH_7);
-RC_Channel rc_8(CH_8);
-RC_Channel *rc = &rc_1;
+#define NUM_CHANNELS 8
+
+static RC_Channel rc_1(CH_1);
+static RC_Channel rc_2(CH_2);
+static RC_Channel rc_3(CH_3);
+static RC_Channel rc_4(CH_4);
+static RC_Channel rc_5(CH_5);
+static RC_Channel rc_6(CH_6);
+static RC_Channel rc_7(CH_7);
+static RC_Channel rc_8(CH_8);
+static RC_Channel *rc = &rc_1;
 
 
 void setup()
 {
     hal.console->println("ArduPilot RC Channel test");
-    hal.scheduler->delay(500);
-
-    setup_radio();
 
     print_radio_values();
 
     // set type of output, symmetrical angles or a number range;
-    // XXX BROKEN
     rc_1.set_angle(4500);
     rc_1.set_default_dead_zone(80);
     rc_1.set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
 
-    // XXX BROKEN
     rc_2.set_angle(4500);
     rc_2.set_default_dead_zone(80);
     rc_2.set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
@@ -71,62 +88,33 @@ void setup()
     rc_7.set_range(0,1000);
 
     rc_8.set_range(0,1000);
-
-    for (int i = 0; i < 30; i++) {
-        read_radio();
+    for (int i=0; i<NUM_CHANNELS; i++) {
+        rc[i].enable_out();
     }
-    rc_1.trim();
-    rc_2.trim();
-    rc_4.trim();
 }
 
 void loop()
 {
-    hal.scheduler->delay(20);
-    debug_rcin();
-    read_radio();
+    RC_Channel::set_pwm_all();
     print_pwm();
+    
+    copy_input_output();
+
+    hal.scheduler->delay(20);
 }
 
-void debug_rcin() {
-    uint16_t channels[8];
-    hal.rcin->read(channels, 8);
-    hal.console->printf_P(
-        PSTR("rcin: %u %u %u %u %u %u %u %u\r\n"),
-        channels[0],
-        channels[1],
-        channels[2],
-        channels[3],
-        channels[4],
-        channels[5],
-        channels[6],
-        channels[7]);
-}
-
-void read_radio()
+static void print_pwm(void)
 {
-    rc_1.set_pwm(hal.rcin->read(CH_1));
-    rc_2.set_pwm(hal.rcin->read(CH_2));
-    rc_3.set_pwm(hal.rcin->read(CH_3));
-    rc_4.set_pwm(hal.rcin->read(CH_4));
-    rc_5.set_pwm(hal.rcin->read(CH_5));
-    rc_6.set_pwm(hal.rcin->read(CH_6));
-    rc_7.set_pwm(hal.rcin->read(CH_7));
-    rc_8.set_pwm(hal.rcin->read(CH_8));
-}
-
-void print_pwm()
-{
-    for (int i=0; i<8; i++) {
+    for (int i=0; i<NUM_CHANNELS; i++) {
 	    hal.console->printf("ch%u: %4d ", (unsigned)i+1, (int)rc[i].control_in);
     }
     hal.console->printf("\n");
 }
 
 
-void print_radio_values()
+static void print_radio_values()
 {
-    for (int i=0; i<8; i++) {
+    for (int i=0; i<NUM_CHANNELS; i++) {
 	     hal.console->printf("CH%u: %u|%u\n",
 			  (unsigned)i+1, 
 			  (unsigned)rc[i].radio_min, 
@@ -135,66 +123,16 @@ void print_radio_values()
 }
 
 
-void setup_radio(void)
+/*
+  copy scaled input to output
+ */
+static void copy_input_output(void)
 {
-	hal.console->println("\n\nRadio Setup:");
-	uint8_t i;
-	
-	for(i = 0; i < 100;i++){
-		hal.scheduler->delay(20);
-		read_radio();
-	}
-		
-	rc_1.radio_min = rc_1.radio_in;
-	rc_2.radio_min = rc_2.radio_in;
-	rc_3.radio_min = rc_3.radio_in;
-	rc_4.radio_min = rc_4.radio_in;
-	rc_5.radio_min = rc_5.radio_in;
-	rc_6.radio_min = rc_6.radio_in;
-	rc_7.radio_min = rc_7.radio_in;
-	rc_8.radio_min = rc_8.radio_in;
-
-	rc_1.radio_max = rc_1.radio_in;
-	rc_2.radio_max = rc_2.radio_in;
-	rc_3.radio_max = rc_3.radio_in;
-	rc_4.radio_max = rc_4.radio_in;
-	rc_5.radio_max = rc_5.radio_in;
-	rc_6.radio_max = rc_6.radio_in;
-	rc_7.radio_max = rc_7.radio_in;
-	rc_8.radio_max = rc_8.radio_in;
-
-	rc_1.radio_trim = rc_1.radio_in;
-	rc_2.radio_trim = rc_2.radio_in;
-	rc_4.radio_trim = rc_4.radio_in;
-	// 3 is not trimed
-	rc_5.radio_trim = 1500;
-	rc_6.radio_trim = 1500;
-	rc_7.radio_trim = 1500;
-	rc_8.radio_trim = 1500;
-			
-	hal.console->println("\nMove all controls to each extreme. Hit Enter to save:");
-	while(1){
-		
-		hal.scheduler->delay(20);
-		// Filters radio input - adjust filters in the radio.pde file
-		// ----------------------------------------------------------
-		read_radio();
-
-		rc_1.update_min_max();
-		rc_2.update_min_max();
-		rc_3.update_min_max();
-		rc_4.update_min_max();
-		rc_5.update_min_max();
-		rc_6.update_min_max();
-		rc_7.update_min_max();
-		rc_8.update_min_max();
-		
-        if(hal.console->available() > 0) {
-            hal.console->println("Radio calibrated, Showing control values:");
-            break;
-        }
+    for (int i=0; i<NUM_CHANNELS; i++) {
+        rc[i].servo_out = rc[i].control_in;
+        rc[i].calc_pwm();
+        rc[i].output();
     }
-    return;
 }
 
 AP_HAL_MAIN();