diff --git a/ArduSub/control_acro.cpp b/ArduSub/control_acro.cpp
index 3725d8c5df..19e7f505b4 100644
--- a/ArduSub/control_acro.cpp
+++ b/ArduSub/control_acro.cpp
@@ -49,8 +49,8 @@ void Sub::acro_run()
 
     //control_in is range 0-1000
     //radio_in is raw pwm value
-    motors.set_forward(channel_forward->norm_input());
-    motors.set_lateral(channel_lateral->norm_input());
+    motors.set_forward(channel_forward->norm_input_dz());
+    motors.set_lateral(channel_lateral->norm_input_dz());
 }
 
 
diff --git a/ArduSub/control_althold.cpp b/ArduSub/control_althold.cpp
index 8cc389d405..60498119c9 100644
--- a/ArduSub/control_althold.cpp
+++ b/ArduSub/control_althold.cpp
@@ -160,6 +160,6 @@ void Sub::althold_run()
 
     //control_in is range 0-1000
     //radio_in is raw pwm value
-    motors.set_forward(channel_forward->norm_input());
-    motors.set_lateral(channel_lateral->norm_input());
+    motors.set_forward(channel_forward->norm_input_dz());
+    motors.set_lateral(channel_lateral->norm_input_dz());
 }
diff --git a/ArduSub/control_manual.cpp b/ArduSub/control_manual.cpp
index afb3791167..d49d0bdc6e 100644
--- a/ArduSub/control_manual.cpp
+++ b/ArduSub/control_manual.cpp
@@ -27,10 +27,10 @@ void Sub::manual_run()
 
     motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
 
-    motors.set_roll(channel_roll->norm_input()*0.67f);
-    motors.set_pitch(channel_pitch->norm_input()*0.67f);
-    motors.set_yaw(channel_yaw->norm_input()*0.67f);
+    motors.set_roll(channel_roll->norm_input_dz()*0.67f);
+    motors.set_pitch(channel_pitch->norm_input_dz()*0.67f);
+    motors.set_yaw(channel_yaw->norm_input_dz()*0.67f);
     motors.set_throttle(channel_throttle->norm_input());
-    motors.set_forward(channel_forward->norm_input()*0.67f);
-    motors.set_lateral(channel_lateral->norm_input()*0.67f);
+    motors.set_forward(channel_forward->norm_input_dz()*0.67f);
+    motors.set_lateral(channel_lateral->norm_input_dz()*0.67f);
 }
diff --git a/ArduSub/control_stabilize.cpp b/ArduSub/control_stabilize.cpp
index 7b855a4d13..ed0adf4464 100644
--- a/ArduSub/control_stabilize.cpp
+++ b/ArduSub/control_stabilize.cpp
@@ -78,6 +78,6 @@ void Sub::stabilize_run()
 
     //control_in is range -1000-1000
     //radio_in is raw pwm value
-    motors.set_forward(channel_forward->norm_input());
-    motors.set_lateral(channel_lateral->norm_input());
+    motors.set_forward(channel_forward->norm_input_dz());
+    motors.set_lateral(channel_lateral->norm_input_dz());
 }
diff --git a/ArduSub/control_surface.cpp b/ArduSub/control_surface.cpp
index 98a6a3d446..4b19718436 100644
--- a/ArduSub/control_surface.cpp
+++ b/ArduSub/control_surface.cpp
@@ -59,6 +59,6 @@ void Sub::surface_run()
     pos_control.update_z_controller();
 
     // pilot has control for repositioning
-    motors.set_forward(channel_forward->norm_input());
-    motors.set_lateral(channel_lateral->norm_input());
+    motors.set_forward(channel_forward->norm_input_dz());
+    motors.set_lateral(channel_lateral->norm_input_dz());
 }