diff --git a/libraries/AP_Motors/AP_MotorsHeli.cpp b/libraries/AP_Motors/AP_MotorsHeli.cpp
index 2387da7ef0..a4aa3a49ff 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli.cpp
@@ -243,6 +243,7 @@ void AP_MotorsHeli::reset_swash()
 // reset_swash_servo
 void AP_MotorsHeli::reset_swash_servo(RC_Channel& servo)
 {
+    servo.set_range(0, 1000);
     servo.radio_min = 1000;
     servo.radio_max = 2000;
 }
@@ -279,15 +280,6 @@ void AP_MotorsHeli::init_swash()
     _heliflags.swash_initialised = true;
 }
 
-// init_swash_servo
-void AP_MotorsHeli::init_swash_servo(RC_Channel& servo)
-{
-    servo.set_range(0, 1000);
-    
-    servo.radio_min = 1000;
-    servo.radio_max = 2000;
-}
-
 // update the throttle input filter
 void AP_MotorsHeli::update_throttle_filter()
 {
diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h
index 803f44d1a4..583146d965 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.h
+++ b/libraries/AP_Motors/AP_MotorsHeli.h
@@ -199,9 +199,6 @@ protected:
     // init_servos - initialize the servos
     virtual void init_servos() = 0;
 
-    // init_swash_servo - initialize a swash servo
-    static void init_swash_servo(RC_Channel& servo);
-
     // calculate_roll_pitch_collective_factors - calculate factors based on swash type and servo position
     virtual void calculate_roll_pitch_collective_factors() = 0;
 
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
index f2bab5d56a..24529c042b 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
@@ -378,9 +378,8 @@ void AP_MotorsHeli_Single::reset_servos()
 // init_servos
 void AP_MotorsHeli_Single::init_servos()
 {
-    init_swash_servo (_swash_servo_1);
-    init_swash_servo (_swash_servo_2);
-    init_swash_servo (_swash_servo_3);
+    // reset swash servo range and endpoints
+    reset_servos();
 
     _yaw_servo.set_angle(4500);