diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 5a0dcbfd91..9bd0fb9f88 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -87,14 +87,6 @@
 // Note channels are from 0!
 //
 // XXX these should be CH_n defines from RC.h at some point.
-#define CH_1 0
-#define CH_2 1
-#define CH_3 2
-#define CH_4 3
-#define CH_5 4
-#define CH_6 5
-#define CH_7 6
-#define CH_8 7
 #define CH_10 9    //PB5
 #define CH_11 10   //PE3
 
diff --git a/ArduPlane/APM_Config.h.reference b/ArduPlane/APM_Config.h.reference
index 3786839dc6..4c560ef062 100644
--- a/ArduPlane/APM_Config.h.reference
+++ b/ArduPlane/APM_Config.h.reference
@@ -398,9 +398,9 @@
 // also means that you should avoid switching out of MANUAL while you have
 // any control stick deflection.
 //
-// The default is to enable AUTO_TRIM.
+// The default is to disable AUTO_TRIM.
 //
-//#define AUTO_TRIM           ENABLED
+//#define AUTO_TRIM           DISABLED
 //
 
 //////////////////////////////////////////////////////////////////////////////
diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index 3b62fe925a..a01fd6501f 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -39,7 +39,6 @@ version 2.1 of the License, or (at your option) any later version.
 #include <AP_DCM.h>         // ArduPilot Mega DCM Library
 #include <PID.h>            // PID library
 #include <RC_Channel.h>     // RC Channel Library
-//#include <RC_Channel/RC_Channel_aux.h> // Auxiliary RC Channel Library (Channels 5..8)
 #include <AP_RangeFinder.h>	// Range finder library
 #include <ModeFilter.h>
 #include <AP_Camera.h>		// Photo or video camera
diff --git a/ArduPlane/Attitude.pde b/ArduPlane/Attitude.pde
index 63eefb30f5..4847f86e76 100644
--- a/ArduPlane/Attitude.pde
+++ b/ArduPlane/Attitude.pde
@@ -274,14 +274,14 @@ static void set_servos(void)
 		}
 		g.channel_throttle.radio_out 	= g.channel_throttle.radio_in;
 		g.channel_rudder.radio_out 		= g.channel_rudder.radio_in;
-		if (g_rc_function[RC_Channel_aux::k_aileron] != NULL) g_rc_function[RC_Channel_aux::k_aileron]->radio_out = g_rc_function[RC_Channel_aux::k_aileron]->radio_in;
+		G_RC_AUX(k_aileron)->radio_out	= g_rc_function[RC_Channel_aux::k_aileron]->radio_in;
 
 	} else {
 		if (g.mix_mode == 0) {
 			g.channel_roll.calc_pwm();
 			g.channel_pitch.calc_pwm();
 			g.channel_rudder.calc_pwm();
-			if (g_rc_function[RC_Channel_aux::k_aileron] != NULL) {
+			if (g_rc_function[RC_Channel_aux::k_aileron]) {
 				g_rc_function[RC_Channel_aux::k_aileron]->servo_out = g.channel_roll.servo_out;
 				g_rc_function[RC_Channel_aux::k_aileron]->calc_pwm();
 			}
@@ -315,7 +315,7 @@ static void set_servos(void)
 	}
 	
 	if(control_mode <= FLY_BY_WIRE_B) {
-		if (g_rc_function[RC_Channel_aux::k_flap_auto] != NULL) g_rc_function[RC_Channel_aux::k_flap_auto]->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_in;
+		G_RC_AUX(k_flap_auto)->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_in;
 	} else if (control_mode >= FLY_BY_WIRE_C) {	
 		if (g.airspeed_enabled == true) {  
 			flapSpeedSource = g.airspeed_cruise;
@@ -323,11 +323,11 @@ static void set_servos(void)
 			flapSpeedSource = g.throttle_cruise;
 		}
 		if ( flapSpeedSource > g.flap_1_speed) {
-			if (g_rc_function[RC_Channel_aux::k_flap_auto] != NULL) g_rc_function[RC_Channel_aux::k_flap_auto]->servo_out = 0;
+			G_RC_AUX(k_flap_auto)->servo_out = 0;
 		} else if (flapSpeedSource > g.flap_2_speed) {
-			if (g_rc_function[RC_Channel_aux::k_flap_auto] != NULL) g_rc_function[RC_Channel_aux::k_flap_auto]->servo_out = g.flap_1_percent;
+			G_RC_AUX(k_flap_auto)->servo_out = g.flap_1_percent;
 		} else {
-			if (g_rc_function[RC_Channel_aux::k_flap_auto] != NULL) g_rc_function[RC_Channel_aux::k_flap_auto]->servo_out = g.flap_2_percent;
+			G_RC_AUX(k_flap_auto)->servo_out = g.flap_2_percent;
 		}
 	}
 	
diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index f5fac05daa..d48b4cb73d 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -300,7 +300,7 @@
 // AUTO_TRIM
 //
 #ifndef AUTO_TRIM
-# define AUTO_TRIM				ENABLED
+# define AUTO_TRIM				DISABLED
 #endif
 
 
diff --git a/ArduPlane/radio.pde b/ArduPlane/radio.pde
index ed3d1782b2..5b26479ce6 100644
--- a/ArduPlane/radio.pde
+++ b/ArduPlane/radio.pde
@@ -23,6 +23,7 @@ static void init_rc_in()
 	g.channel_throttle.dead_zone = 6;
 
 	//set auxiliary ranges
+	update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
 	G_RC_AUX(k_flap)->set_range(0,100);
 	G_RC_AUX(k_flap_auto)->set_range(0,100);
 	G_RC_AUX(k_aileron)->set_angle(SERVO_MAX);
diff --git a/libraries/AP_Common/Arduino.mk b/libraries/AP_Common/Arduino.mk
index ae3f3e572e..f84f06a237 100644
--- a/libraries/AP_Common/Arduino.mk
+++ b/libraries/AP_Common/Arduino.mk
@@ -259,7 +259,11 @@ SKETCHCPP_SRC		:=	$(SKETCHPDE) $(sort $(filter-out $(SKETCHPDE),$(SKETCHPDESRCS)
 # make.
 #
 SEXPR			=	's/^[[:space:]]*\#include[[:space:]][<\"]([^>\"./]+).*$$/\1/p'
-LIBTOKENS		:=	$(sort $(shell cat $(SKETCHPDESRCS) $(SKETCHSRCS) | sed -nre $(SEXPR)))
+ifeq ($(SYSTYPE),Darwin)
+  LIBTOKENS        :=    $(sort $(shell cat $(SKETCHPDESRCS) $(SKETCHSRCS) | sed -nEe $(SEXPR)))
+else
+  LIBTOKENS        :=    $(sort $(shell cat $(SKETCHPDESRCS) $(SKETCHSRCS) | sed -nre $(SEXPR)))
+endif
 
 #
 # Find sketchbook libraries referenced by the sketch.
diff --git a/libraries/RC_Channel/RC_Channel_aux.cpp b/libraries/RC_Channel/RC_Channel_aux.cpp
index caa7affb61..55ed6819af 100644
--- a/libraries/RC_Channel/RC_Channel_aux.cpp
+++ b/libraries/RC_Channel/RC_Channel_aux.cpp
@@ -21,6 +21,7 @@ RC_Channel_aux::closest_limit(int16_t angle)
 	while (min >= 1800) min -= 3600;
 	while (max < -1800) max += 3600;
 	while (max >= 1800) max -= 3600;
+	// This is done every time because the user might change the min, max values on the fly
 	set_range(min, max);
 
 	// If the angle is outside servo limits, saturate the angle to the closest limit
@@ -44,6 +45,7 @@ RC_Channel_aux::closest_limit(int16_t angle)
 void
 RC_Channel_aux::output_ch(unsigned char ch_nr)
 {
+	// take care or two corner cases
 	switch(function)
 	{
 	case k_none: 		// disabled
@@ -52,26 +54,14 @@ RC_Channel_aux::output_ch(unsigned char ch_nr)
 	case k_manual:		// manual
 		radio_out = radio_in;
 		break;
-	case k_flap:		// flaps
-	case k_flap_auto:	// flaps automated
-	case k_aileron:		// aileron
-	case k_flaperon:	// flaperon (flaps and aileron combined, needs two independent servos one for each wing)
-	case k_mount_yaw:	// mount yaw (pan)
-	case k_mount_pitch:	// mount pitch (tilt)
-	case k_mount_roll:	// mount roll
-	case k_cam_trigger:	// camera trigger
-	case k_cam_open:	// camera open
-	case k_egg_drop:	// egg drop
-	case k_nr_aux_servo_functions: // dummy, just to avoid a compiler warning
-	default:
-		break;
 	}
 
 	APM_RC.OutputCh(ch_nr, radio_out);
 }
 
-// update the g_rc_function array from pointers to rc_x channels
-// This should be done periodically because the user might change the configuration and
+// Update the g_rc_function array of pointers to rc_x channels
+// This is to be done before rc_init so that the channels get correctly initialized.
+// It also should be called periodically because the user might change the configuration and
 // expects the changes to take effect instantly
 void update_aux_servo_function(RC_Channel_aux* rc_5, RC_Channel_aux* rc_6, RC_Channel_aux* rc_7, RC_Channel_aux* rc_8)
 {