diff --git a/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp b/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
index d91aa5fb75..371baa2a0e 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
@@ -62,17 +62,6 @@ void AP_MotorsHeli_Quad::set_update_rate( uint16_t speed_hz )
     rc_set_freq(mask, _speed_hz);
 }
 
-// enable - starts allowing signals to be sent to motors
-void AP_MotorsHeli_Quad::enable()
-{
-    // enable output channels
-    for (uint8_t i=0; i<AP_MOTORS_HELI_QUAD_NUM_MOTORS; i++) {
-        rc_enable_ch(AP_MOTORS_MOT_1+i);
-    }
-
-    rc_enable_ch(AP_MOTORS_HELI_QUAD_RSC);
-}
-
 // init_outputs
 bool AP_MotorsHeli_Quad::init_outputs()
 {
@@ -81,7 +70,6 @@ bool AP_MotorsHeli_Quad::init_outputs()
     }
 
     for (uint8_t i=0; i<AP_MOTORS_HELI_QUAD_NUM_MOTORS; i++) {
-        rc_enable_ch(AP_MOTORS_MOT_1+i);
         _servo[i] = SRV_Channels::get_channel_for(SRV_Channel::Aux_servo_function_t(SRV_Channel::k_motor1+i), CH_1+i);
         if (!_servo[i]) {
             return false;
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Quad.h b/libraries/AP_Motors/AP_MotorsHeli_Quad.h
index 222412fd39..33c1035928 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Quad.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_Quad.h
@@ -33,9 +33,6 @@ public:
     // set_update_rate - set update rate to motors
     void set_update_rate( uint16_t speed_hz ) override;
 
-    // enable - starts allowing signals to be sent to motors
-    void enable() override;
-
     // output_test - spin a motor at the pwm value specified
     void output_test(uint8_t motor_seq, int16_t pwm) override;