diff --git a/libraries/AP_Motors/AP_MotorsHeli.cpp b/libraries/AP_Motors/AP_MotorsHeli.cpp
index c0942c842f..b228fff0d7 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli.cpp
@@ -207,10 +207,8 @@ void AP_MotorsHeli::output()
         calculate_armed_scalars();
         if (!_flags.interlock) {
             output_armed_zero_throttle();
-        } else if (_flags.stabilizing) {
-            output_armed_stabilizing();
         } else {
-            output_armed_not_stabilizing();
+            output_armed_stabilizing();
         }
     } else {
         output_disarmed();
@@ -230,19 +228,6 @@ void AP_MotorsHeli::output_armed_stabilizing()
     update_motor_control(ROTOR_CONTROL_ACTIVE);
 }
 
-void AP_MotorsHeli::output_armed_not_stabilizing()
-{
-    // if manual override active after arming, deactivate it and reinitialize servos
-    if (_servo_mode != SERVO_CONTROL_MODE_AUTOMATED) {
-        reset_flight_controls();
-    }
-
-    // helicopters always run stabilizing flight controls
-    move_actuators(_roll_control_input, _pitch_control_input, _throttle_control_input, _yaw_control_input);
-
-    update_motor_control(ROTOR_CONTROL_ACTIVE);
-}
-
 // output_armed_zero_throttle - sends commands to the motors
 void AP_MotorsHeli::output_armed_zero_throttle()
 {
diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h
index fc3fa67882..e18257ece1 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.h
+++ b/libraries/AP_Motors/AP_MotorsHeli.h
@@ -178,7 +178,6 @@ protected:
 
     // output - sends commands to the motors
     void        output_armed_stabilizing();
-    void        output_armed_not_stabilizing();
     void        output_armed_zero_throttle();
     void        output_disarmed();