diff --git a/ArduCopter/radio.cpp b/ArduCopter/radio.cpp
index bc2e82f105..fee5120a13 100644
--- a/ArduCopter/radio.cpp
+++ b/ArduCopter/radio.cpp
@@ -44,7 +44,7 @@ void Copter::init_rc_in()
     ap.throttle_zero = true;
 }
 
- // init_rc_out -- initialise motors and check if pilot wants to perform ESC calibration
+ // init_rc_out -- initialise motors
 void Copter::init_rc_out()
 {
     motors->set_loop_rate(scheduler.get_loop_rate_hz());
@@ -74,9 +74,6 @@ void Copter::init_rc_out()
     uint16_t safety_ignore_mask = (~copter.motors->get_motor_mask()) & 0x3FFF;
     BoardConfig.set_default_safety_ignore_mask(safety_ignore_mask);
 #endif
-
-    // check if we should enter esc calibration mode
-    esc_calibration_startup_check();
 }
 
 
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index d13c936011..5334c70079 100755
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -117,6 +117,9 @@ void Copter::init_ardupilot()
     // sets up motors and output to escs
     init_rc_out();
 
+    // check if we should enter esc calibration mode
+    esc_calibration_startup_check();
+
     // motors initialised so parameters can be sent
     ap.initialised_params = true;