diff --git a/ArduCopter/ArduCopter.cpp b/ArduCopter/ArduCopter.cpp
index e2c8d815b1..947a1214f7 100644
--- a/ArduCopter/ArduCopter.cpp
+++ b/ArduCopter/ArduCopter.cpp
@@ -90,7 +90,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK_CLASS(OpticalFlow,          &copter.optflow,             update,         200, 160),
 #endif
     SCHED_TASK(update_batt_compass,   10,    120),
-    SCHED_TASK(read_aux_all,          10,     50),
+    SCHED_TASK_CLASS(RC_Channels,          (RC_Channels*)&copter.g2.rc_channels,      read_aux_all,    10,     50),
     SCHED_TASK(arm_motors_check,      10,     50),
 #if TOY_MODE_ENABLED == ENABLED
     SCHED_TASK_CLASS(ToyMode,              &copter.g2.toy_mode,         update,          10,  50),
@@ -198,12 +198,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #endif
 };
 
-void Copter::read_aux_all()
-{
-    copter.g2.rc_channels.read_aux_all();
-}
-
-
 constexpr int8_t Copter::_failsafe_priorities[7];
 
 void Copter::setup()
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 4cdd735a2f..557d5208c6 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -633,7 +633,6 @@ private:
     void rc_loop();
     void throttle_loop();
     void update_batt_compass(void);
-    void read_aux_all(void);
     void fourhundred_hz_logging();
     void ten_hz_logging_loop();
     void twentyfive_hz_logging();
diff --git a/ArduCopter/RC_Channel.h b/ArduCopter/RC_Channel.h
index 52a52d4758..2e9cf78e9f 100644
--- a/ArduCopter/RC_Channel.h
+++ b/ArduCopter/RC_Channel.h
@@ -27,11 +27,6 @@ class RC_Channels_Copter : public RC_Channels
 {
 public:
 
-    // this must be implemented for the AP_Scheduler functor to work:
-    void read_aux_all() override {
-        RC_Channels::read_aux_all();
-    }
-
     bool has_valid_input() const override;
 
     RC_Channel_Copter obj_channels[NUM_RC_CHANNELS];