diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index c6c2276cea..e29008a7af 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -257,14 +257,6 @@ void Rover::update_logging2(void)
 }
 
 
-/*
-  update aux servo mappings
- */
-void Rover::update_aux(void)
-{
-    SRV_Channels::enable_aux_servos();
-}
-
 /*
   once a second events
  */
@@ -279,7 +271,7 @@ void Rover::one_second_loop(void)
     set_control_channels();
 
     // cope with changes to aux functions
-    update_aux();
+    SRV_Channels::enable_aux_servos();
 
     // update notify flags
     AP_Notify::flags.pre_arm_check = arming.pre_arm_checks(false);
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 2115448c84..cfa750aee4 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -391,7 +391,6 @@ private:
     void update_compass(void);
     void update_logging1(void);
     void update_logging2(void);
-    void update_aux(void);
     void one_second_loop(void);
     void update_GPS(void);
     void update_current_mode(void);
@@ -474,7 +473,6 @@ private:
     // radio.cpp
     void set_control_channels(void);
     void init_rc_in();
-    void init_rc_out();
     void rudder_arm_disarm_check();
     void read_radio();
     void radio_failsafe_check(uint16_t pwm);
diff --git a/APMrover2/radio.cpp b/APMrover2/radio.cpp
index 6b12127bc6..e90390b264 100644
--- a/APMrover2/radio.cpp
+++ b/APMrover2/radio.cpp
@@ -36,12 +36,6 @@ void Rover::init_rc_in()
     channel_lateral->set_default_dead_zone(30);
 }
 
-void Rover::init_rc_out()
-{
-    // set auxiliary ranges
-    update_aux();
-}
-
 /*
   check for driver input on rudder/steering stick for arming/disarming
 */
diff --git a/APMrover2/system.cpp b/APMrover2/system.cpp
index a734d57a72..6b5be31480 100644
--- a/APMrover2/system.cpp
+++ b/APMrover2/system.cpp
@@ -126,7 +126,7 @@ void Rover::init_ardupilot()
     set_control_channels();  // setup radio channels and ouputs ranges
     init_rc_in();            // sets up rc channels deadzone
     g2.motors.init();        // init motors including setting servo out channels ranges
-    init_rc_out();           // enable output
+    SRV_Channels::enable_aux_servos();
 
     // init wheel encoders
     g2.wheel_encoder.init();