diff --git a/libraries/AP_Motors/AP_MotorsHeli.cpp b/libraries/AP_Motors/AP_MotorsHeli.cpp
index 65da6fddb3..b5c17b849d 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli.cpp
@@ -175,6 +175,9 @@ void AP_MotorsHeli::Init()
     // ensure inputs are not passed through to servos on start-up
     _servo_mode = SERVO_CONTROL_MODE_AUTOMATED;
 
+    // initialise radio passthrough for collective to middle
+    _throttle_radio_passthrough = 0.5f;
+
     // initialise Servo/PWM ranges and endpoints
     init_outputs();
 
@@ -355,19 +358,9 @@ void AP_MotorsHeli::update_throttle_filter()
     _throttle_filter.apply(_throttle_in, 1.0f/_loop_rate);
 }
 
-// reset_radio_passthrough used to reset all radio inputs to center
-void AP_MotorsHeli::reset_radio_passthrough()
-{
-    _roll_radio_passthrough = 0.0f;
-    _pitch_radio_passthrough = 0.0f;
-    _throttle_radio_passthrough = 0.5f;
-    _yaw_radio_passthrough = 0.0f;
-}
-
 // reset_flight_controls - resets all controls and scalars to flight status
 void AP_MotorsHeli::reset_flight_controls()
 {
-    reset_radio_passthrough();
     _servo_mode = SERVO_CONTROL_MODE_AUTOMATED;
     init_outputs();
     calculate_scalars();
diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h
index 42198d475d..ab33ac1804 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.h
+++ b/libraries/AP_Motors/AP_MotorsHeli.h
@@ -128,9 +128,6 @@ public:
     //  this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
     virtual uint16_t get_motor_mask() = 0;
 
-    // reset_radio_passthrough used to reset all radio inputs to center
-    void reset_radio_passthrough();
-
     // servo_test - move servos through full range of movement
     // to be overloaded by child classes, different vehicle types would have different movement patterns
     virtual void servo_test() = 0;