diff --git a/libraries/AP_HAL_VRBRAIN/RCOutput.cpp b/libraries/AP_HAL_VRBRAIN/RCOutput.cpp
index 9c6bac9aa7..e02e409cbc 100644
--- a/libraries/AP_HAL_VRBRAIN/RCOutput.cpp
+++ b/libraries/AP_HAL_VRBRAIN/RCOutput.cpp
@@ -30,39 +30,39 @@ void VRBRAINRCOutput::init(void* unused)
         hal.console->printf("RCOutput: Unable to setup IO arming OK\n");
     }
     _rate_mask = 0;
-    _alt_fd = -1;    
+
     _servo_count = 0;
-    _alt_servo_count = 0;
+
 
     if (ioctl(_pwm_fd, PWM_SERVO_GET_COUNT, (unsigned long)&_servo_count) != 0) {
         hal.console->printf("RCOutput: Unable to get servo count\n");        
         return;
     }
 
-    _alt_fd = open("/dev/vroutput", O_RDWR);
-    if (_alt_fd == -1) {
-        hal.console->printf("RCOutput: failed to open /dev/vroutput");
-        return;
-    }
+
+
+
+
+
 }
 
 
 void VRBRAINRCOutput::_init_alt_channels(void)
 {
-    if (_alt_fd == -1) {
-        return;
-    }
-    if (ioctl(_alt_fd, PWM_SERVO_ARM, 0) != 0) {
-        hal.console->printf("RCOutput: Unable to setup alt IO arming\n");
-        return;
-    }
-    if (ioctl(_alt_fd, PWM_SERVO_SET_ARM_OK, 0) != 0) {
-        hal.console->printf("RCOutput: Unable to setup alt IO arming OK\n");
-        return;
-    }
-    if (ioctl(_alt_fd, PWM_SERVO_GET_COUNT, (unsigned long)&_alt_servo_count) != 0) {
-        hal.console->printf("RCOutput: Unable to get servo count\n");        
-    }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
 }
 
 void VRBRAINRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
@@ -128,12 +128,12 @@ uint16_t VRBRAINRCOutput::get_freq(uint8_t ch)
 
 void VRBRAINRCOutput::enable_ch(uint8_t ch)
 {
-    if (ch >= 8 && !(_enabled_channels & (1U<<ch))) {
-        // this is the first enable of an auxillary channel - setup
-        // aux channels now. This delayed setup makes it possible to
-        // use BRD_PWM_COUNT to setup the number of PWM channels.
-        _init_alt_channels();
-    }
+
+
+
+
+
+
     _enabled_channels |= (1U<<ch);
 }
 
@@ -184,7 +184,7 @@ void VRBRAINRCOutput::force_safety_off(void)
 
 void VRBRAINRCOutput::write(uint8_t ch, uint16_t period_us)
 {
-    if (ch >= _servo_count + _alt_servo_count) {
+    if (ch >= _servo_count) {
         return;
     }
     if (!(_enabled_channels & (1U<<ch))) {
@@ -197,6 +197,7 @@ void VRBRAINRCOutput::write(uint8_t ch, uint16_t period_us)
     if (period_us != _period[ch]) {
         _period[ch] = period_us;
         _need_update = true;
+        up_pwm_servo_set(ch, period_us);
     }
 }
 
@@ -235,19 +236,19 @@ void VRBRAINRCOutput::_timer_tick(void)
     if (_need_update && _pwm_fd != -1) {
         _need_update = false;
         perf_begin(_perf_rcout);
-        if (_max_channel <= _servo_count) {
+
             ::write(_pwm_fd, _period, _max_channel*sizeof(_period[0]));
-        } else {
-            // we're using both sets of outputs
-            ::write(_pwm_fd, _period, _servo_count*sizeof(_period[0]));
-            if (_alt_fd != -1 && _alt_servo_count > 0) {
-                uint8_t n = _max_channel - _servo_count;
-                if (n > _alt_servo_count) {
-                    n = _alt_servo_count;
-                }
-                ::write(_alt_fd, &_period[_servo_count], n*sizeof(_period[0]));
-            }
-        }
+
+
+
+
+
+
+
+
+
+
+
         perf_end(_perf_rcout);
         _last_output = now;
     }
diff --git a/libraries/AP_HAL_VRBRAIN/RCOutput.h b/libraries/AP_HAL_VRBRAIN/RCOutput.h
index 70921fc823..1f71f14642 100644
--- a/libraries/AP_HAL_VRBRAIN/RCOutput.h
+++ b/libraries/AP_HAL_VRBRAIN/RCOutput.h
@@ -27,7 +27,7 @@ public:
 
 private:
     int _pwm_fd;
-    int _alt_fd;
+
     uint16_t _freq_hz;
     uint16_t _period[VRBRAIN_NUM_OUTPUT_CHANNELS];
     volatile uint8_t _max_channel;
@@ -35,7 +35,7 @@ private:
     perf_counter_t  _perf_rcout;
     uint32_t _last_output;
     unsigned _servo_count;
-    unsigned _alt_servo_count;
+
     uint32_t _rate_mask;
     uint16_t _enabled_channels;