diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index 6f6051f896..91c2db7fd6 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/ArduCopter/AP_Arming.cpp
@@ -755,8 +755,8 @@ bool AP_Arming_Copter::arm(const AP_Arming::Method method, const bool do_arming_
     copter.sprayer.test_pump(false);
 #endif
 
-    // enable output to motors
-    copter.enable_motor_output();
+    // output lowest possible value to motors
+    copter.motors->output_min();
 
     // finally actually arm the motors
     copter.motors->armed(true);
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 8322ad66e6..be136776ed 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -891,7 +891,6 @@ private:
     void default_dead_zones();
     void init_rc_in();
     void init_rc_out();
-    void enable_motor_output();
     void read_radio();
     void set_throttle_and_failsafe(uint16_t throttle_pwm);
     void set_throttle_zero_flag(int16_t throttle_control);
diff --git a/ArduCopter/compassmot.cpp b/ArduCopter/compassmot.cpp
index 5e24bd2b40..532cbb243a 100644
--- a/ArduCopter/compassmot.cpp
+++ b/ArduCopter/compassmot.cpp
@@ -123,7 +123,7 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
     EXPECT_DELAY_MS(5000);
 
     // enable motors and pass through throttle
-    enable_motor_output();
+    motors->output_min();  // output lowest possible value to motors
     motors->armed(true);
     hal.util->set_soft_armed(true);
 
diff --git a/ArduCopter/motor_test.cpp b/ArduCopter/motor_test.cpp
index 13114e1744..6efd17d41f 100644
--- a/ArduCopter/motor_test.cpp
+++ b/ArduCopter/motor_test.cpp
@@ -153,7 +153,7 @@ MAV_RESULT Copter::mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, uint8_t
             EXPECT_DELAY_MS(3000);
             // enable and arm motors
             if (!motors->armed()) {
-                enable_motor_output();
+                motors->output_min();  // output lowest possible value to motors
                 motors->armed(true);
                 hal.util->set_soft_armed(true);
             }
diff --git a/ArduCopter/radio.cpp b/ArduCopter/radio.cpp
index 0de13687d1..57043fba91 100644
--- a/ArduCopter/radio.cpp
+++ b/ArduCopter/radio.cpp
@@ -77,13 +77,6 @@ void Copter::init_rc_out()
 }
 
 
-// enable_motor_output() - enable and output lowest possible value to motors
-void Copter::enable_motor_output()
-{
-    // enable motors
-    motors->output_min();
-}
-
 void Copter::read_radio()
 {
     const uint32_t tnow_ms = millis();
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index dae7a40c28..b2b8c95e07 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -208,7 +208,7 @@ void Copter::init_ardupilot()
 
     // enable output to motors
     if (arming.rc_calibration_checks(true)) {
-        enable_motor_output();
+        motors->output_min();  // output lowest possible value to motors
     }
 
     // attempt to set the intial_mode, else set to STABILIZE