diff --git a/ArduCopterMega/Parameters.h b/ArduCopterMega/Parameters.h
index 20f766999c..356155c487 100644
--- a/ArduCopterMega/Parameters.h
+++ b/ArduCopterMega/Parameters.h
@@ -17,7 +17,7 @@ public:
     // The increment will prevent old parameters from being used incorrectly
     // by newer code.
     //
-    static const uint16_t k_format_version = 1;
+    static const uint16_t k_format_version = 2;
 
     //
     // Parameter identities.
diff --git a/ArduCopterMega/radio.pde b/ArduCopterMega/radio.pde
index e09a4932ad..371a69f7a1 100644
--- a/ArduCopterMega/radio.pde
+++ b/ArduCopterMega/radio.pde
@@ -38,36 +38,43 @@ void init_rc_out()
 		motor_armed = 1;
 	#endif
 
-	APM_RC.OutputCh(CH_1, 	g.rc_3.radio_min);					// Initialization of servo outputs
-	APM_RC.OutputCh(CH_2, 	g.rc_3.radio_min);
-	APM_RC.OutputCh(CH_3, 	g.rc_3.radio_min);
-	APM_RC.OutputCh(CH_4, 	g.rc_3.radio_min);
-
-	APM_RC.OutputCh(CH_7,     g.rc_3.radio_min);
-    APM_RC.OutputCh(CH_8,     g.rc_3.radio_min);
 
 	APM_RC.Init();		// APM Radio initialization
 
-	for(byte i = 0; i < 10; i++){
+    // fix for crazy output
+    OCR1B = 0xFFFF;     // PB6, OUT3
+    OCR1C = 0xFFFF;     // PB7, OUT4
+    OCR5B = 0xFFFF;     // PL4, OUT1
+    OCR5C = 0xFFFF;     // PL5, OUT2
+    OCR4B = 0xFFFF;     // PH4, OUT6
+    OCR4C = 0xFFFF;     // PH5, OUT5
+
+    if(g.rc_3.radio_min <= 1200){
+        output_min();
+    }
+
+	for(byte i = 0; i < 5; i++){
 		delay(20);
 		read_radio();
 	}
 
-	// sanity check on the EEPROM values for radio_min
-	if(abs(g.rc_3.radio_min - g.rc_3.radio_in) > 40){
-		g.rc_3.radio_min = g.rc_3.radio_in;
-	}
+    // sanity check
+    if(g.rc_3.radio_min >= 1300){
+        g.rc_3.radio_min = g.rc_3.radio_in;
+        output_min();
+    }
+}
 
+void output_min()
+{
 	APM_RC.OutputCh(CH_1, 	g.rc_3.radio_min);					// Initialization of servo outputs
 	APM_RC.OutputCh(CH_2, 	g.rc_3.radio_min);
 	APM_RC.OutputCh(CH_3, 	g.rc_3.radio_min);
 	APM_RC.OutputCh(CH_4, 	g.rc_3.radio_min);
 
-
-	APM_RC.OutputCh(CH_7,     g.rc_3.radio_min);
-    APM_RC.OutputCh(CH_8,     g.rc_3.radio_min);
+	APM_RC.OutputCh(CH_7,   g.rc_3.radio_min);
+    APM_RC.OutputCh(CH_8,   g.rc_3.radio_min);
 }
-
 void read_radio()
 {
 	g.rc_1.set_pwm(APM_RC.InputCh(CH_1));
diff --git a/ArduCopterMega/setup.pde b/ArduCopterMega/setup.pde
index 12153d75b9..484b89233d 100644
--- a/ArduCopterMega/setup.pde
+++ b/ArduCopterMega/setup.pde
@@ -49,6 +49,13 @@ setup_mode(uint8_t argc, const Menu::arg *argv)
 						 //"and then the 'radio' command to configure for your radio.\n"
 						 //"\n"));
 
+	if(g.rc_1.radio_min >= 1300){
+		delay(1000);
+		Serial.printf_P(PSTR("\n!!!Warning, your radio is not configured!!!"));
+		delay(1000);
+		Serial.printf_P(PSTR("\n Type 'radio' to configure now.\n\n"));
+	}
+
 	// Run the setup menu.  When the menu exits, we will return to the main menu.
 	setup_menu.run();
 }
@@ -94,6 +101,7 @@ setup_factory(uint8_t argc, const Menu::arg *argv)
 
 	if (('y' != c) && ('Y' != c))
 		return(-1);
+
 	AP_Var::erase_all();
 	Serial.printf_P(PSTR("\nFACTORY RESET complete - reboot APM"));
 
@@ -174,6 +182,7 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
 		g.rc_8.update_min_max();
 
 		if(Serial.available() > 0){
+			delay(20);
 			Serial.flush();
 
 			save_EEPROM_radio();
diff --git a/ArduCopterMega/system.pde b/ArduCopterMega/system.pde
index 60fee7f8ef..ad5e3779a2 100644
--- a/ArduCopterMega/system.pde
+++ b/ArduCopterMega/system.pde
@@ -41,7 +41,6 @@ MENU(main_menu, "ArduPilotMega", main_menu_commands);
 
 void init_ardupilot()
 {
-
 	byte last_log_num;
 	int last_log_start;
 	int last_log_end;
@@ -174,7 +173,7 @@ void init_ardupilot()
 							 "Entering interactive setup mode...\n"
 							 "\n"
 							 "Type 'help' to list commands, 'exit' to leave a submenu.\n"
-							 "Visit the 'setup' menu for first-time configuration.\n"));
+							 "Visit the 'setup' menu for first-time configuration.\n\n"));
 		for (;;) {
 			//Serial.println_P(PSTR("\nMove the slide switch and reset to FLY.\n"));
 			main_menu.run();