diff --git a/Tools/autotest/apmrover2.py b/Tools/autotest/apmrover2.py
index 58bad8867e..d2b97762df 100644
--- a/Tools/autotest/apmrover2.py
+++ b/Tools/autotest/apmrover2.py
@@ -44,7 +44,7 @@ class AutoTestRover(AutoTest):
     def is_rover(self):
         return True
 
-    def get_rudder_channel(self):
+    def get_stick_arming_channel(self):
         return int(self.get_parameter("RCMAP_ROLL"))
 
     ##########################################################
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index b4d1fc788d..50695d9863 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -73,7 +73,7 @@ class AutoTestCopter(AutoTest):
     def is_copter(self):
         return True
 
-    def get_rudder_channel(self):
+    def get_stick_arming_channel(self):
         return int(self.get_parameter("RCMAP_YAW"))
 
     def get_disarm_delay(self):
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index dd6e72e314..1cf256d7e7 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -47,7 +47,7 @@ class AutoTestPlane(AutoTest):
     def is_plane(self):
         return True
 
-    def get_rudder_channel(self):
+    def get_stick_arming_channel(self):
         return int(self.get_parameter("RCMAP_YAW"))
 
     def get_disarm_delay(self):
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 2a4bba1781..767f5885e4 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -813,7 +813,7 @@ class AutoTest(ABC):
         out_trim = int(self.get_parameter("RC%u_TRIM" % chan))
         self.set_rc(chan, out_trim)
 
-    def get_rudder_channel(self):
+    def get_stick_arming_channel(self):
         """Return the Rudder channel number as set in parameter."""
         raise ErrorException("Rudder parameter is not supported by vehicle %s frame %s", (self.vehicleinfo_key(), self.frame))
 
@@ -903,38 +903,38 @@ class AutoTest(ABC):
     def arm_motors_with_rc_input(self, timeout=20):
         """Arm motors with radio."""
         self.progress("Arm motors with radio")
-        self.set_output_to_max(self.get_rudder_channel())
+        self.set_output_to_max(self.get_stick_arming_channel())
         tstart = self.get_sim_time()
         while True:
             self.wait_heartbeat()
             tdelta = self.get_sim_time_cached() - tstart
             if self.mav.motors_armed():
                 self.progress("MOTORS ARMED OK WITH RADIO")
-                self.set_output_to_trim(self.get_rudder_channel())
+                self.set_output_to_trim(self.get_stick_arming_channel())
                 self.progress("Arm in %ss" % tdelta)  # TODO check arming time
                 return True
             print("Not armed after %f seconds" % (tdelta))
             if tdelta > timeout:
                 break
         self.progress("Failed to ARM with radio")
-        self.set_output_to_trim(self.get_rudder_channel())
+        self.set_output_to_trim(self.get_stick_arming_channel())
         return False
 
     def disarm_motors_with_rc_input(self, timeout=20):
         """Disarm motors with radio."""
         self.progress("Disarm motors with radio")
-        self.set_output_to_min(self.get_rudder_channel())
+        self.set_output_to_min(self.get_stick_arming_channel())
         tstart = self.get_sim_time()
         while self.get_sim_time_cached() < tstart + timeout:
             self.wait_heartbeat()
             if not self.mav.motors_armed():
                 disarm_delay = self.get_sim_time_cached() - tstart
                 self.progress("MOTORS DISARMED OK WITH RADIO")
-                self.set_output_to_trim(self.get_rudder_channel())
+                self.set_output_to_trim(self.get_stick_arming_channel())
                 self.progress("Disarm in %ss" % disarm_delay)  # TODO check disarming time
                 return True
         self.progress("Failed to DISARM with radio")
-        self.set_output_to_trim(self.get_rudder_channel())
+        self.set_output_to_trim(self.get_stick_arming_channel())
         return False
 
     def arm_motors_with_switch(self, switch_chan, timeout=20):
diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py
index 07c286b72e..17e90d4557 100644
--- a/Tools/autotest/quadplane.py
+++ b/Tools/autotest/quadplane.py
@@ -46,7 +46,7 @@ class AutoTestQuadPlane(AutoTest):
     def is_plane(self):
         return True
 
-    def get_rudder_channel(self):
+    def get_stick_arming_channel(self):
         return int(self.get_parameter("RCMAP_YAW"))
 
     def get_disarm_delay(self):