diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 4627132581..4127ebfa72 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -917,7 +917,8 @@ private:
     bool setup_failsafe_mixing(void);
     void set_control_channels(void);
     void init_rc_in();
-    void init_rc_out();
+    void init_rc_out_main();
+    void init_rc_out_aux();
     void rudder_arm_disarm_check();
     void read_radio();
     void control_failsafe(uint16_t pwm);
diff --git a/ArduPlane/radio.cpp b/ArduPlane/radio.cpp
index d31ce03eb9..367901af2a 100644
--- a/ArduPlane/radio.cpp
+++ b/ArduPlane/radio.cpp
@@ -55,24 +55,42 @@ void Plane::init_rc_in()
 }
 
 /*
-  initialise RC output channels
+  initialise RC output for main channels. This is done early to allow
+  for BRD_SAFETYENABLE=0 and early servo control
  */
-void Plane::init_rc_out()
+void Plane::init_rc_out_main()
 {
-    channel_roll->enable_out();
-    channel_pitch->enable_out();
-
+    // setup failsafe for bottom 4 channels. We don't do all channels
+    // yet as some may be for VTOL motors in a quadplane
+    RC_Channel::setup_failsafe_trim_mask(0x000F);
+    
     /*
       change throttle trim to minimum throttle. This prevents a
       configuration error where the user sets CH3_TRIM incorrectly and
       the motor may start on power up
      */
     channel_throttle->set_radio_trim(throttle_min());
+
+    channel_roll->enable_out();
+    channel_pitch->enable_out();
     
     if (arming.arming_required() != AP_Arming::YES_ZERO_PWM) {
         channel_throttle->enable_out();
     }
     channel_rudder->enable_out();
+
+    // setup PX4 to output the min throttle when safety off if arming
+    // is setup for min on disarm
+    if (arming.arming_required() == AP_Arming::YES_MIN_PWM) {
+        hal.rcout->set_safety_pwm(1UL<<(rcmap.throttle()-1), throttle_min());
+    }
+}
+
+/*
+  initialise RC output channels for aux channels
+ */
+void Plane::init_rc_out_aux()
+{
     update_aux();
     RC_Channel_aux::enable_aux_servos();
 
@@ -81,12 +99,6 @@ void Plane::init_rc_out()
 
     // setup PWM values to send if the FMU firmware dies
     RC_Channel::setup_failsafe_trim_all();  
-
-    // setup PX4 to output the min throttle when safety off if arming
-    // is setup for min on disarm
-    if (arming.arming_required() == AP_Arming::YES_MIN_PWM) {
-        hal.rcout->set_safety_pwm(1UL<<(rcmap.throttle()-1), throttle_min());
-    }
 }
 
 /*
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 30492ee6c8..e810ee4c05 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -99,6 +99,9 @@ void Plane::init_ardupilot()
     }
 #endif
 
+    set_control_channels();
+    init_rc_out_main();
+    
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
     // this must be before BoardConfig.init() so if
     // BRD_SAFETYENABLE==0 then we don't have safety off yet
@@ -120,8 +123,6 @@ void Plane::init_ardupilot()
     // allow servo set on all channels except first 4
     ServoRelayEvents.set_channel_mask(0xFFF0);
 
-    set_control_channels();
-
     // keep a record of how many resets have happened. This can be
     // used to detect in-flight resets
     g.num_resets.set_and_save(g.num_resets+1);
@@ -230,9 +231,9 @@ void Plane::init_ardupilot()
 
     startup_ground();
 
-    // don't initialise rc output until after quadplane is setup as
+    // don't initialise aux rc output until after quadplane is setup as
     // that can change initial values of channels
-    init_rc_out();
+    init_rc_out_aux();
     
     // choose the nav controller
     set_nav_controller();