diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index dc8a702976..fa49e9d04a 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -923,6 +923,7 @@ private:
     void read_radio();
     void set_throttle_and_failsafe(uint16_t throttle_pwm);
     void set_throttle_zero_flag(int16_t throttle_control);
+    void radio_passthrough_to_motors();
     void init_barometer(bool full_calibration);
     void read_barometer(void);
     void init_sonar(void);
diff --git a/ArduCopter/radio.cpp b/ArduCopter/radio.cpp
index 12a6b726fb..08dddceec9 100644
--- a/ArduCopter/radio.cpp
+++ b/ArduCopter/radio.cpp
@@ -115,6 +115,9 @@ void Copter::read_radio()
         // update output on any aux channels, for manual passthru
         RC_Channel_aux::output_ch_all();
 
+        // pass pilot input through to motors (used to allow wiggling servos while disarmed on heli, single, coax copters)
+        radio_passthrough_to_motors();
+
         float dt = (tnow_ms - last_update_ms)*1.0e-3f;
         rc_throttle_control_in_filter.apply(g.rc_3.control_in, dt);
         last_update_ms = tnow_ms;
@@ -191,3 +194,9 @@ void Copter::set_throttle_zero_flag(int16_t throttle_control)
         ap.throttle_zero = true;
     }
 }
+
+// pass pilot's inputs to motors library (used to allow wiggling servos while disarmed on heli, single, coax copters)
+void Copter::radio_passthrough_to_motors()
+{
+    motors.set_radio_passthrough(channel_roll->control_in/1000.0f, channel_pitch->control_in/1000.0f, channel_throttle->control_in/1000.0f, channel_yaw->control_in/1000.0f);
+}