diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index fa41849be8..264ac82aeb 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -600,9 +600,6 @@ private:
 
     bool standby_active;
 
-    // set when we are upgrading parameters from 3.4
-    bool upgrading_frame_params;
-
     static const AP_Scheduler::Task scheduler_tasks[];
     static const AP_Param::Info var_info[];
     static const struct LogStructure log_structure[];
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 0e331dadb1..150d1b89fc 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1292,19 +1292,8 @@ void Copter::convert_pid_parameters(void)
         AP_Param::convert_old_parameters(&notchfilt_conversion_info[i], 1.0f);
     }
 
-    const uint8_t old_rc_keys[14] = { Parameters::k_param_rc_1_old,  Parameters::k_param_rc_2_old,
-                                      Parameters::k_param_rc_3_old,  Parameters::k_param_rc_4_old,
-                                      Parameters::k_param_rc_5_old,  Parameters::k_param_rc_6_old,
-                                      Parameters::k_param_rc_7_old,  Parameters::k_param_rc_8_old,
-                                      Parameters::k_param_rc_9_old,  Parameters::k_param_rc_10_old,
-                                      Parameters::k_param_rc_11_old, Parameters::k_param_rc_12_old,
-                                      Parameters::k_param_rc_13_old, Parameters::k_param_rc_14_old };
-    const uint16_t old_aux_chan_mask = 0x3FF0;
-    // note that we don't pass in rcmap as we don't want output channel functions changed based on rcmap
-    if (SRV_Channels::upgrade_parameters(old_rc_keys, old_aux_chan_mask, nullptr)) {
-        // the rest needs to be done after motors allocation
-        upgrading_frame_params = true;
-    }
+    // make any SRV_Channel upgrades needed
+    SRV_Channels::upgrade_parameters();
 }
 
 /*
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index 811e1dba34..b0fc14d654 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -642,31 +642,6 @@ void Copter::allocate_motors(void)
         g.rc_speed.set_default(16000);
     }
     
-    if (upgrading_frame_params) {
-        // do frame specific upgrade. This is only done the first time we run the new firmware
-#if FRAME_CONFIG == HELI_FRAME
-        SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 12, CH_1);
-        SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 13, CH_2);
-        SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 14, CH_3);
-        SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 15, CH_4);
-#else
-        if (g2.frame_class == AP_Motors::MOTOR_FRAME_TRI) {
-            const AP_Param::ConversionInfo tri_conversion_info[] = {
-                { Parameters::k_param_motors, 32, AP_PARAM_INT16, "SERVO7_TRIM" },
-                { Parameters::k_param_motors, 33, AP_PARAM_INT16, "SERVO7_MIN" },
-                { Parameters::k_param_motors, 34, AP_PARAM_INT16, "SERVO7_MAX" },
-                { Parameters::k_param_motors, 35, AP_PARAM_FLOAT, "MOT_YAW_SV_ANGLE" },
-            };
-            // we need to use CONVERT_FLAG_FORCE as the SERVO7_* parameters will already be set from RC7_*
-            AP_Param::convert_old_parameters(tri_conversion_info, ARRAY_SIZE(tri_conversion_info), AP_Param::CONVERT_FLAG_FORCE);
-            const AP_Param::ConversionInfo tri_conversion_info_rev { Parameters::k_param_motors, 31, AP_PARAM_INT8,  "SERVO7_REVERSED" };
-            AP_Param::convert_old_parameter(&tri_conversion_info_rev, 1, AP_Param::CONVERT_FLAG_REVERSE | AP_Param::CONVERT_FLAG_FORCE);
-            // AP_MotorsTri was converted from having nested var_info to one level
-            AP_Param::convert_parent_class(Parameters::k_param_motors, motors, motors->var_info);
-        }
-#endif
-    }
-
     // upgrade parameters. This must be done after allocating the objects
     convert_pid_parameters();
 #if FRAME_CONFIG == HELI_FRAME