diff --git a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
index 09e9398ebb..f99b6a38b4 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
@@ -24,8 +24,8 @@ extern const AP_HAL::HAL& hal;
 // init_servo - servo initialization on start-up
 void AP_MotorsHeli_RSC::init_servo()
 {
-    // set servo range
-    _servo_output.set_range_out(0,1000);
+    // setup RSC on specified channel by default
+    RC_Channel_aux::set_aux_channel_default(_aux_fn, _default_channel);
 }
 
 // recalc_scalers - recalculates various scalers used.  Should be called at about 1hz to allow users to see effect of changing parameters
@@ -170,9 +170,6 @@ void AP_MotorsHeli_RSC::write_rsc(int16_t servo_out)
         // ToDo: We should probably use RC_Channel_Aux to avoid this problem
         return;
     } else {
-        _servo_output.servo_out = servo_out;
-        _servo_output.calc_pwm();
-
-        hal.rcout->write(_servo_output_channel, _servo_output.radio_out);
+        RC_Channel_aux::set_servo_out(RC_Channel_aux::k_heli_rsc, servo_out);
     }
 }
diff --git a/libraries/AP_Motors/AP_MotorsHeli_RSC.h b/libraries/AP_Motors/AP_MotorsHeli_RSC.h
index afe8d1b41c..9808a1c642 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_RSC.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_RSC.h
@@ -25,11 +25,11 @@ enum RotorControlMode {
 
 class AP_MotorsHeli_RSC {
 public:
-        AP_MotorsHeli_RSC(RC_Channel&   servo_output,
-                      int8_t        servo_output_channel,
-                      uint16_t      loop_rate) :
-        _servo_output(servo_output),
-        _servo_output_channel(servo_output_channel),
+    AP_MotorsHeli_RSC(RC_Channel_aux::Aux_servo_function_t aux_fn,
+                      uint8_t default_channel,
+                      uint16_t loop_rate) :            
+        _aux_fn(aux_fn),
+        _default_channel(default_channel),
         _loop_rate(loop_rate)
     {};
 
@@ -84,10 +84,12 @@ public:
 private:
 
     // external variables
-    RC_Channel&     _servo_output;
-    int8_t          _servo_output_channel;      // output channel to rotor esc
     float           _loop_rate;                 // main loop rate
 
+    // channel setup for aux function
+    RC_Channel_aux::Aux_servo_function_t _aux_fn;
+    uint8_t         _default_channel;
+    
     // internal variables
     RotorControlMode _control_mode = ROTOR_CONTROL_MODE_DISABLED;   // motor control mode, Passthrough or Setpoint
     int16_t         _critical_speed = 0;        // rotor speed below which flight is not possible
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
index 0d06dc3c19..bc885d4339 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
@@ -144,10 +144,6 @@ void AP_MotorsHeli_Single::enable()
     hal.rcout->enable_ch(AP_MOTORS_MOT_4);    // yaw
     hal.rcout->enable_ch(AP_MOTORS_HELI_SINGLE_AUX);                                 // output for gyro gain or direct drive variable pitch tail motor
     hal.rcout->enable_ch(AP_MOTORS_HELI_SINGLE_RSC);                                 // output for main rotor esc
-
-    // disable channels 7 and 8 from being used by RC_Channel_aux
-    RC_Channel_aux::disable_aux_channel(AP_MOTORS_HELI_SINGLE_AUX);
-    RC_Channel_aux::disable_aux_channel(AP_MOTORS_HELI_SINGLE_RSC);
 }
 
 // init_outputs - initialise Servo/PWM ranges and endpoints
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.h b/libraries/AP_Motors/AP_MotorsHeli_Single.h
index 18273f994e..e9588bd2ad 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.h
@@ -62,8 +62,8 @@ public:
         _swash_servo_2(servo_2),
         _swash_servo_3(servo_3),
         _yaw_servo(servo_4),
-        _main_rotor(servo_rsc, AP_MOTORS_HELI_SINGLE_RSC, loop_rate),
-        _tail_rotor(servo_aux, AP_MOTORS_HELI_SINGLE_AUX, loop_rate)
+        _main_rotor(RC_Channel_aux::k_heli_rsc, AP_MOTORS_HELI_SINGLE_RSC, loop_rate),
+        _tail_rotor(RC_Channel_aux::k_heli_tail_rsc, AP_MOTORS_HELI_SINGLE_AUX, loop_rate)
     {
         AP_Param::setup_object_defaults(this, var_info);
     };