diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index a019de1c36..a4c433615c 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -909,8 +909,6 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
 
 void setup() {
 
-    bool enable_external_leds = true;
-
     // this needs to be the first call, as it fills memory with
     // sentinel values
     memcheck_init();
@@ -919,36 +917,6 @@ void setup() {
     // Load the default values of variables listed in var_info[]s
     AP_Param::setup_sketch_defaults();
 
-    // init EPM cargo gripper
-#if EPM_ENABLED == ENABLED
-    epm.init();
-    enable_external_leds = !epm.enabled();
-#endif
-
-    // initialise notify system
-    // disable external leds if epm is enabled because of pin conflict on the APM
-    notify.init(enable_external_leds);
-
-    // initialise battery monitor
-    battery.init();
-    
-#if CONFIG_SONAR == ENABLED
- #if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
-    sonar_analog_source = new AP_ADC_AnalogSource(
-            &adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
- #elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
-    sonar_analog_source = hal.analogin->channel(
-            CONFIG_SONAR_SOURCE_ANALOG_PIN);
- #else
-  #warning "Invalid CONFIG_SONAR_SOURCE"
- #endif
-    sonar = new AP_RangeFinder_MaxsonarXL(sonar_analog_source,
-            &sonar_mode_filter);
-#endif
-
-    rssi_analog_source      = hal.analogin->channel(g.rssi_pin);
-    board_vcc_analog_source = hal.analogin->channel(ANALOG_INPUT_BOARD_VCC);
-
     init_ardupilot();
 
     // initialise the main loop scheduler
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index ee83abe7ae..55e3c46bd8 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -120,11 +120,43 @@ static void init_ardupilot()
     //
     report_version();
 
-    relay.init();
-
     // load parameters from EEPROM
     load_parameters();
 
+    relay.init();
+
+    bool enable_external_leds = true;
+
+    // init EPM cargo gripper
+#if EPM_ENABLED == ENABLED
+    epm.init();
+    enable_external_leds = !epm.enabled();
+#endif
+
+    // initialise notify system
+    // disable external leds if epm is enabled because of pin conflict on the APM
+    notify.init(enable_external_leds);
+
+    // initialise battery monitor
+    battery.init();
+    
+#if CONFIG_SONAR == ENABLED
+ #if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
+    sonar_analog_source = new AP_ADC_AnalogSource(
+            &adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
+ #elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
+    sonar_analog_source = hal.analogin->channel(
+            CONFIG_SONAR_SOURCE_ANALOG_PIN);
+ #else
+  #warning "Invalid CONFIG_SONAR_SOURCE"
+ #endif
+    sonar = new AP_RangeFinder_MaxsonarXL(sonar_analog_source,
+            &sonar_mode_filter);
+#endif
+
+    rssi_analog_source      = hal.analogin->channel(g.rssi_pin);
+    board_vcc_analog_source = hal.analogin->channel(ANALOG_INPUT_BOARD_VCC);
+
 #if HIL_MODE != HIL_MODE_ATTITUDE
     barometer.init();
 #endif