diff --git a/Tools/Linux_HAL_Essentials/pru/aiopru/RcAioPRU.p b/Tools/Linux_HAL_Essentials/pru/aiopru/RcAioPRU.p
index 913271b9eb..650bb9203a 100644
--- a/Tools/Linux_HAL_Essentials/pru/aiopru/RcAioPRU.p
+++ b/Tools/Linux_HAL_Essentials/pru/aiopru/RcAioPRU.p
@@ -153,12 +153,12 @@
 #endif
 
 #ifdef POCKET
-#define RC_CH_1_PIN r30.t9
-#define RC_CH_2_PIN r30.t11
-#define RC_CH_3_PIN r30.t15
-#define RC_CH_4_PIN r30.t14
-#define RC_CH_5_PIN r30.t10
-#define RC_CH_6_PIN r30.t8
+#define RC_CH_1_PIN r30.t7
+#define RC_CH_2_PIN r30.t4
+#define RC_CH_3_PIN r30.t1
+#define RC_CH_4_PIN r30.t5
+#define RC_CH_5_PIN r30.t2
+#define RC_CH_6_PIN r30.t6
 #endif
 
 // RCOut enable bits
diff --git a/Tools/Linux_HAL_Essentials/pru/aiopru/RcAioPRU_POCKET_bin.h b/Tools/Linux_HAL_Essentials/pru/aiopru/RcAioPRU_POCKET_bin.h
index 7590633247..101f8af7eb 100644
--- a/Tools/Linux_HAL_Essentials/pru/aiopru/RcAioPRU_POCKET_bin.h
+++ b/Tools/Linux_HAL_Essentials/pru/aiopru/RcAioPRU_POCKET_bin.h
@@ -76,103 +76,103 @@ const unsigned int PRUcode[] =  {
      0x2400009a,
      0x60faf90e,
      0x10f1f1e5,
-     0xd109fe07,
+     0xd107fe07,
      0x91043899,
      0x00f9e5e5,
      0x5100f909,
      0xc900e408,
-     0x1f09fefe,
+     0x1f07fefe,
      0x21005300,
      0x9104389a,
      0x91083899,
      0x04faf9f9,
      0x00f9e5e5,
-     0x1d09fefe,
+     0x1d07fefe,
      0x04f1e6f9,
      0x24f000da,
      0x2400009a,
      0x60faf90e,
      0x10f1f1e6,
-     0xd10bfe07,
+     0xd104fe07,
      0x910c3899,
      0x00f9e6e6,
      0x5100f909,
      0xc901e408,
-     0x1f0bfefe,
+     0x1f04fefe,
      0x21006400,
      0x910c389a,
      0x91103899,
      0x04faf9f9,
      0x00f9e6e6,
-     0x1d0bfefe,
+     0x1d04fefe,
      0x04f1e7f9,
      0x24f000da,
      0x2400009a,
      0x60faf90e,
      0x10f1f1e7,
-     0xd10ffe07,
+     0xd101fe07,
      0x91143899,
      0x00f9e7e7,
      0x5100f909,
      0xc902e408,
-     0x1f0ffefe,
+     0x1f01fefe,
      0x21007500,
      0x9114389a,
      0x91183899,
      0x04faf9f9,
      0x00f9e7e7,
-     0x1d0ffefe,
+     0x1d01fefe,
      0x04f1e8f9,
      0x24f000da,
      0x2400009a,
      0x60faf90e,
      0x10f1f1e8,
-     0xd10efe07,
+     0xd105fe07,
      0x911c3899,
      0x00f9e8e8,
      0x5100f909,
      0xc903e408,
-     0x1f0efefe,
+     0x1f05fefe,
      0x21008600,
      0x911c389a,
      0x91203899,
      0x04faf9f9,
      0x00f9e8e8,
-     0x1d0efefe,
+     0x1d05fefe,
      0x04f1e9f9,
      0x24f000da,
      0x2400009a,
      0x60faf90e,
      0x10f1f1e9,
-     0xd10afe07,
+     0xd102fe07,
      0x91243899,
      0x00f9e9e9,
      0x5100f909,
      0xc904e408,
-     0x1f0afefe,
+     0x1f02fefe,
      0x21009700,
      0x9124389a,
      0x91283899,
      0x04faf9f9,
      0x00f9e9e9,
-     0x1d0afefe,
+     0x1d02fefe,
      0x04f1eaf9,
      0x24f000da,
      0x2400009a,
      0x60faf90e,
      0x10f1f1ea,
-     0xd108fe07,
+     0xd106fe07,
      0x912c3899,
      0x00f9eaea,
      0x5100f909,
      0xc905e408,
-     0x1f08fefe,
+     0x1f06fefe,
      0x2100a800,
      0x912c389a,
      0x91303899,
      0x04faf9f9,
      0x00f9eaea,
-     0x1d08fefe,
+     0x1d06fefe,
      0x912e2399,
      0xc902f90b,
      0x91086399,