diff --git a/libraries/AP_Motors/AP_MotorsHeli.cpp b/libraries/AP_Motors/AP_MotorsHeli.cpp
index 16944a7f25..94b08030c9 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli.cpp
@@ -91,7 +91,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
     // @Param: RSC_MODE
     // @DisplayName: Rotor Speed Control Mode
     // @Description: Controls the source of the desired rotor speed, either ch8 or RSC_SETPOINT
-    // @Values: 0:None, 1:Ch8 Input, 2:SetPoint
+    // @Values: 1:Ch8 Input, 2:SetPoint
     // @User: Standard
     AP_GROUPINFO("RSC_MODE", 8, AP_MotorsHeli, _rsc_mode, AP_MOTORS_HELI_RSC_MODE_CH8_PASSTHROUGH),
 
@@ -218,12 +218,6 @@ bool AP_MotorsHeli::parameter_check() const
     return true;
 }
 
-// return true if the main rotor is up to speed
-bool AP_MotorsHeli::rotor_runup_complete() const
-{
-    return _heliflags.rotor_runup_complete;
-}
-
 // reset_swash - free up swash for maximum movements. Used for set-up
 void AP_MotorsHeli::reset_swash()
 {
diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h
index 21ff0c8ed2..c143d8f557 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.h
+++ b/libraries/AP_Motors/AP_MotorsHeli.h
@@ -37,7 +37,7 @@
 #define AP_MOTORS_HELI_LAND_COLLECTIVE_MIN      0
 
 // main rotor speed control types (ch8 out)
-#define AP_MOTORS_HELI_RSC_MODE_NONE            0       // main rotor ESC is directly connected to receiver, pilot controls ESC speed through transmitter directly
+#define AP_MOTORS_HELI_RSC_MODE_NONE            0       // not a valid RSC Mode
 #define AP_MOTORS_HELI_RSC_MODE_CH8_PASSTHROUGH 1       // main rotor ESC is connected to RC8 (out), pilot desired rotor speed provided by CH8 input
 #define AP_MOTORS_HELI_RSC_MODE_SETPOINT        2       // main rotor ESC is connected to RC8 (out), desired speed is held in RSC_SETPOINT parameter
 
@@ -136,7 +136,7 @@ public:
     virtual int16_t get_estimated_rotor_speed() const = 0;
 
     // return true if the main rotor is up to speed
-    bool rotor_runup_complete() const;
+    bool rotor_runup_complete() const { return _heliflags.rotor_runup_complete; }
 
     // rotor_speed_above_critical - return true if rotor speed is above that critical for flight
     virtual bool rotor_speed_above_critical() const = 0;
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
index f499721ed2..e721333e2e 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
@@ -195,7 +195,7 @@ void AP_MotorsHeli_Single::output_test(uint8_t motor_seq, int16_t pwm)
 bool AP_MotorsHeli_Single::allow_arming() const
 {
     // returns false if main rotor speed is not zero
-    if (_rsc_mode != AP_MOTORS_HELI_RSC_MODE_NONE && _main_rotor.get_estimated_speed() > 0) {
+    if (_main_rotor.get_estimated_speed() > 0) {
         return false;
     }
 
@@ -220,18 +220,11 @@ void AP_MotorsHeli_Single::set_desired_rotor_speed(int16_t desired_speed)
 // recalc_scalers - recalculates various scalers used.  Should be called at about 1hz to allow users to see effect of changing parameters
 void AP_MotorsHeli_Single::recalc_scalers()
 {
-    if (_rsc_mode == AP_MOTORS_HELI_RSC_MODE_NONE) {
-        _main_rotor.set_ramp_time(0);
-        _main_rotor.set_runup_time(0);
-        _main_rotor.set_critical_speed(0);
-        _main_rotor.set_idle_speed(0);
-    } else {
-        _main_rotor.set_ramp_time(_rsc_ramp_time);
-        _main_rotor.set_runup_time(_rsc_runup_time);
-        _main_rotor.set_critical_speed(_rsc_critical);
-        _main_rotor.set_idle_speed(_rsc_idle);
-    }
-
+    
+    _main_rotor.set_ramp_time(_rsc_ramp_time);
+    _main_rotor.set_runup_time(_rsc_runup_time);
+    _main_rotor.set_critical_speed(_rsc_critical);
+    _main_rotor.set_idle_speed(_rsc_idle);
     _main_rotor.recalc_scalers();
 
     if (_rsc_mode != AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {