diff --git a/libraries/AP_HAL_QURT/RCOutput.cpp b/libraries/AP_HAL_QURT/RCOutput.cpp
index 9ccaef98a5..6b9124fcfa 100644
--- a/libraries/AP_HAL_QURT/RCOutput.cpp
+++ b/libraries/AP_HAL_QURT/RCOutput.cpp
@@ -117,7 +117,7 @@ void RCOutput::send_receive(void)
     int16_t data[5] {};
 
     for (uint8_t i=0; i<4; i++) {
-        data[esc_map[i]] = pwm_to_esc(period[i]);
+        data[i] = pwm_to_esc(period[i]);
     }
 
     need_write = false;
@@ -140,7 +140,7 @@ void RCOutput::send_receive(void)
  */
 void RCOutput::handle_esc_feedback(const struct esc_response_v2 &pkt)
 {
-    const uint8_t idx = esc_map_rev[pkt.id_state>>4];
+    const uint8_t idx = pkt.id_state>>4;
     if (idx >= ARRAY_SIZE(period)) {
         return;
     }
diff --git a/libraries/AP_HAL_QURT/RCOutput.h b/libraries/AP_HAL_QURT/RCOutput.h
index 2333c39655..3e4075a306 100644
--- a/libraries/AP_HAL_QURT/RCOutput.h
+++ b/libraries/AP_HAL_QURT/RCOutput.h
@@ -56,10 +56,6 @@ private:
     void handle_esc_feedback(const struct esc_response_v2 &pkt);
     void handle_power_status(const struct esc_power_status &pkt);
 
-    // order is RL, FL, FR, RR, map to X frame
-    const uint8_t esc_map[4] {2, 0, 1, 3};
-    const uint8_t esc_map_rev[4] {1, 2, 0, 3};
-
     int fd = -1;
     uint16_t enable_mask;
     static const uint8_t channel_count = 4;