diff --git a/APMrover2/radio.cpp b/APMrover2/radio.cpp
index 95ea17a71a..6565e47c7b 100644
--- a/APMrover2/radio.cpp
+++ b/APMrover2/radio.cpp
@@ -141,7 +141,7 @@ void Rover::trim_control_surfaces()
     read_radio();
     // Store control surface trim values
     // ---------------------------------
-    if (channel_steer->get_radio_in() > 1400) {
+    if ((channel_steer->get_radio_in() > 1400) && (channel_steer->get_radio_in() < 1600)) {
         channel_steer->set_radio_trim(channel_steer->get_radio_in());
         // save to eeprom
         channel_steer->save_eeprom();
diff --git a/APMrover2/system.cpp b/APMrover2/system.cpp
index a814130730..2b43789a25 100644
--- a/APMrover2/system.cpp
+++ b/APMrover2/system.cpp
@@ -179,10 +179,6 @@ void Rover::startup_ground(void)
 
     startup_INS_ground();
 
-    // read the radio to set trims
-    // ---------------------------
-    trim_radio();
-
     // initialise mission library
     mission.init();