diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h
index 330746449d..0a64d0edc2 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.h
+++ b/libraries/AP_Motors/AP_MotorsHeli.h
@@ -159,6 +159,9 @@ public:
     // Run arming checks
     bool arming_checks(size_t buflen, char *buffer) const override;
 
+    // output_test_seq - disabled on heli, do nothing
+    void _output_test_seq(uint8_t motor_seq, int16_t pwm) override {};
+
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];
 
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
index 4df8cf00ba..48e16416fe 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
@@ -265,47 +265,6 @@ bool AP_MotorsHeli_Dual::init_outputs()
     return true;
 }
 
-// output_test_seq - spin a motor at the pwm value specified
-//  motor_seq is the motor's sequence number from 1 to the number of motors on the frame
-//  pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
-void AP_MotorsHeli_Dual::_output_test_seq(uint8_t motor_seq, int16_t pwm)
-{
-    // output to motors and servos
-    switch (motor_seq) {
-    case 1:
-        // swash servo 1
-        rc_write(AP_MOTORS_MOT_1, pwm);
-        break;
-    case 2:
-        // swash servo 2
-        rc_write(AP_MOTORS_MOT_2, pwm);
-        break;
-    case 3:
-        // swash servo 3
-        rc_write(AP_MOTORS_MOT_3, pwm);
-        break;
-    case 4:
-        // swash servo 4
-        rc_write(AP_MOTORS_MOT_4, pwm);
-        break;
-    case 5:
-        // swash servo 5
-        rc_write(AP_MOTORS_MOT_5, pwm);
-        break;
-    case 6:
-        // swash servo 6
-        rc_write(AP_MOTORS_MOT_6, pwm);
-        break;
-    case 7:
-        // main rotor
-        rc_write(AP_MOTORS_HELI_RSC, pwm);
-        break;
-    default:
-        // do nothing
-        break;
-    }
-}
-
 // calculate_armed_scalars
 void AP_MotorsHeli_Dual::calculate_armed_scalars()
 {
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Dual.h b/libraries/AP_Motors/AP_MotorsHeli_Dual.h
index eb7e96a318..f71d59da4c 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Dual.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_Dual.h
@@ -46,9 +46,6 @@ public:
     // set_update_rate - set update rate to motors
     void set_update_rate( uint16_t speed_hz ) override;
 
-    // output_test_seq - spin a motor at the pwm value specified
-    virtual void _output_test_seq(uint8_t motor_seq, int16_t pwm) override;
-
     // output_to_motors - sends values out to the motors
     void output_to_motors() override;
 
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp b/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
index 2ca5b0f3fa..4a7a5fcb9c 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
@@ -65,26 +65,6 @@ bool AP_MotorsHeli_Quad::init_outputs()
     return true;
 }
 
-// output_test_seq - spin a motor at the pwm value specified
-//  motor_seq is the motor's sequence number from 1 to the number of motors on the frame
-//  pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
-void AP_MotorsHeli_Quad::_output_test_seq(uint8_t motor_seq, int16_t pwm)
-{
-    // output to motors and servos
-    switch (motor_seq) {
-    case 1 ... AP_MOTORS_HELI_QUAD_NUM_MOTORS:
-        rc_write(AP_MOTORS_MOT_1 + (motor_seq-1), pwm);
-        break;
-    case AP_MOTORS_HELI_QUAD_NUM_MOTORS+1:
-        // main rotor
-        rc_write(AP_MOTORS_HELI_RSC, pwm);
-        break;
-    default:
-        // do nothing
-        break;
-    }
-}
-
 // calculate_armed_scalars
 void AP_MotorsHeli_Quad::calculate_armed_scalars()
 {
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Quad.h b/libraries/AP_Motors/AP_MotorsHeli_Quad.h
index 5a51ad7910..0cf24d1ccb 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Quad.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_Quad.h
@@ -63,9 +63,6 @@ protected:
     // move_actuators - moves swash plate to attitude of parameters passed in
     void move_actuators(float roll_out, float pitch_out, float coll_in, float yaw_out)  override;
 
-    // output_test_seq - spin a motor at the pwm value specified
-    virtual void _output_test_seq(uint8_t motor_seq, int16_t pwm) override;
-
     const char* _get_frame_string() const override { return "HELI_QUAD"; }
 
     // rate factors
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
index 18992b52b5..7b637c32cd 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
@@ -248,46 +248,6 @@ bool AP_MotorsHeli_Single::init_outputs()
     return true;
 }
 
-// output_test_seq - spin a motor at the pwm value specified
-//  motor_seq is the motor's sequence number from 1 to the number of motors on the frame
-//  pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
-void AP_MotorsHeli_Single::_output_test_seq(uint8_t motor_seq, int16_t pwm)
-{
-    // output to motors and servos
-    switch (motor_seq) {
-        case 1:
-            // swash servo 1
-            rc_write(AP_MOTORS_MOT_1, pwm);
-            break;
-        case 2:
-            // swash servo 2
-            rc_write(AP_MOTORS_MOT_2, pwm);
-            break;
-        case 3:
-            // swash servo 3
-            rc_write(AP_MOTORS_MOT_3, pwm);
-            break;
-        case 4:
-            // external gyro & tail servo
-            if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
-                if (_acro_tail && _ext_gyro_gain_acro > 0) {
-                    rc_write(AP_MOTORS_HELI_SINGLE_EXTGYRO, _ext_gyro_gain_acro);
-                } else {
-                    rc_write(AP_MOTORS_HELI_SINGLE_EXTGYRO, _ext_gyro_gain_std);
-                }
-            }
-            rc_write(AP_MOTORS_MOT_4, pwm);
-            break;
-        case 5:
-            // main rotor
-            rc_write(AP_MOTORS_HELI_RSC, pwm);
-            break;
-        default:
-            // do nothing
-            break;
-    }
-}
-
 // set_desired_rotor_speed
 void AP_MotorsHeli_Single::set_desired_rotor_speed(float desired_speed)
 {
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.h b/libraries/AP_Motors/AP_MotorsHeli_Single.h
index a2af6b2653..37fe93c3ad 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.h
@@ -106,11 +106,6 @@ protected:
     // servo_test - move servos through full range of movement
     void servo_test() override;
 
-    // output_test_seq - spin a motor at the pwm value specified
-    //  motor_seq is the motor's sequence number from 1 to the number of motors on the frame
-    //  pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
-    virtual void _output_test_seq(uint8_t motor_seq, int16_t pwm) override;
-
     // external objects we depend upon
     AP_MotorsHeli_RSC   _tail_rotor;            // tail rotor
     AP_MotorsHeli_Swash _swashplate;            // swashplate