diff --git a/APMrover2/radio.cpp b/APMrover2/radio.cpp
index 6580c0d913..8d673e5778 100644
--- a/APMrover2/radio.cpp
+++ b/APMrover2/radio.cpp
@@ -32,14 +32,14 @@ void Rover::init_rc_in()
     // set rc dead zones
     channel_steer->set_default_dead_zone(30);
     channel_throttle->set_default_dead_zone(30);
-
-    // set auxiliary ranges
-    update_aux();
 }
 
 void Rover::init_rc_out()
 {
     SRV_Channels::output_trim_all();
+
+    // set auxiliary ranges
+    update_aux();
 }
 
 /*
diff --git a/APMrover2/system.cpp b/APMrover2/system.cpp
index 20a5b59166..5628000d0b 100644
--- a/APMrover2/system.cpp
+++ b/APMrover2/system.cpp
@@ -176,12 +176,10 @@ void Rover::init_ardupilot()
 
     ins.set_log_raw_bit(MASK_LOG_IMU_RAW);
 
-    set_control_channels();
-    init_rc_in();        // sets up rc channels from radio
-    init_rc_out();        // sets up the timer libs
-
-    // init motors including setting rc out channels ranges
-    g2.motors.init();
+    set_control_channels();  // setup radio channels and ouputs ranges
+    init_rc_in();            // sets up rc channels deadzone
+    g2.motors.init();        // init motors including setting servo out channels ranges
+    init_rc_out();           // enable output
 
     relay.init();