diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index df4729ba01..002fbfbaad 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -290,7 +290,7 @@ void Sub::one_hz_loop()
     }
 
     // update assigned functions and enable auxiliary servos
-    SRV_Channels::enable_aux_servos();
+    AP::srv().enable_aux_servos();
 
 #if HAL_LOGGING_ENABLED
     // log terrain data
diff --git a/ArduSub/motors.cpp b/ArduSub/motors.cpp
index 5d45a2c00f..7bfe51c249 100644
--- a/ArduSub/motors.cpp
+++ b/ArduSub/motors.cpp
@@ -22,7 +22,7 @@ void Sub::motors_output()
         SRV_Channels::calc_pwm();
         SRV_Channels::output_ch_all();
         motors.output();
-        SRV_Channels::push();
+        AP::srv().push();
     }
 }