diff --git a/libraries/AP_RcChannel/examples/Manual/Manual.pde b/libraries/AP_RcChannel/examples/Manual/Manual.pde
index 85ae2143b1..49878253a4 100644
--- a/libraries/AP_RcChannel/examples/Manual/Manual.pde
+++ b/libraries/AP_RcChannel/examples/Manual/Manual.pde
@@ -15,90 +15,56 @@ FastSerialPort0(Serial); // make sure this procees variable declarations
 
 // test settings
 uint8_t nChannels = 8;
-bool loadEEProm = false;
-bool saveEEProm = false;
 
 // channel configuration
-Vector< AP_EEPromVar<float> * > scale;
-Vector< AP_EEPromVar<uint16_t> * > pwmMin;
-Vector< AP_EEPromVar<uint16_t> * > pwmNeutral;
-Vector< AP_EEPromVar<uint16_t> * > pwmMax;
-Vector< AP_EEPromVar<uint16_t> * > pwmDeadZone;
-Vector< AP_Var<bool> * > filter;
-Vector< AP_Var<bool> * > reverse;
-Vector< AP_RcChannel * > rc;
+AP_RcChannel rcCh[] = 
+{
+	AP_RcChannel("ROLL",APM_RC,0,100.0),
+	AP_RcChannel("PITCH",APM_RC,1,45),
+	AP_RcChannel("THR",APM_RC,2,100),
+	AP_RcChannel("YAW",APM_RC,3,45),
+	AP_RcChannel("CH5",APM_RC,4,1),
+	AP_RcChannel("CH6",APM_RC,5,1),
+	AP_RcChannel("CH7",APM_RC,6,1),
+	AP_RcChannel("CH8",APM_RC,7,1)
+};
+
+// test position
+float testPosition = 2;
+int8_t testSign = 1;
 
 void setup()
 {
 	Serial.begin(115200);
+	delay(2000);
+
 	Serial.println("ArduPilot RC Channel test");
+
 	APM_RC.Init();		// APM Radio initialization
 
-	// add channels
-	for (int i=0;i<nChannels;i++)
-	{
-		char num[5];
-		itoa(i+1,num,10);
-
-		Serial.printf("\nInitializing channel %d", i+1);
-
-		// initialize eeprom settings
-		scale.push_back(new AP_EEPromVar<float>(1.0,strcat("SCALE",num)));
-		pwmMin.push_back(new AP_EEPromVar<uint16_t>(1200,strcat("PWM_MIN",num)));
-		pwmNeutral.push_back(new AP_EEPromVar<uint16_t>(1500,strcat("PWM_NEUTRAL",num)));
-		pwmMax.push_back(new AP_EEPromVar<uint16_t>(1800,strcat("PWM_MAX",num)));
-		pwmDeadZone.push_back(new AP_EEPromVar<uint16_t>(10,strcat("PWM_DEADZONE",num)));
-		filter.push_back(new AP_EEPromVar<bool>(false,strcat("FILTER",num)));
-		reverse.push_back(new AP_EEPromVar<bool>(false,strcat("REVERSE",num)));
-
-		// save
-		if (saveEEProm)
-		{
-			scale[i]->save();
-			pwmMin[i]->save();
-			pwmNeutral[i]->save();
-			pwmMax[i]->save();
-			pwmDeadZone[i]->save();
-			filter[i]->save();
-			reverse[i]->save();
-		}
-
-		// load
-		if (loadEEProm)
-		{
-			scale[i]->load();
-			pwmMin[i]->load();
-			pwmNeutral[i]->load();
-			pwmMax[i]->load();
-			pwmDeadZone[i]->load();
-			filter[i]->load();
-			reverse[i]->load();
-		}
-
-		// find neutral position
-		AP_RcChannel * ch = new AP_RcChannel(APM_RC,i,scale[i]->get(),
-			pwmMin[i]->get(),pwmNeutral[i]->get(),pwmMax[i]->get(),
-			pwmDeadZone[i]->get(),filter[i]->get(),reverse[i]->get());
-
-		ch->readRadio();
-		pwmNeutral[i]->set(ch->getPwm());
-
-		// add rc channel
-		rc.push_back(ch);	
-	}
+	delay(2000);
+	eepromRegistry.print(Serial); // show eeprom map
 }
 
 void loop()	
 {
-	// read radio
-	for (int i=0;i<nChannels;i++) rc[i]->readRadio();
-	
-	// read test positions 
-	Serial.printf("\npwm      :\t");
-	for (int i=0;i<nChannels;i++) Serial.printf("%7d\t",rc[i]->getPwm());
+	// read the radio 
+	for (int i=0;i<nChannels;i++) rcCh[i].readRadio();
+
+	// print channel names
+	Serial.print("\n\t\t");
+	for (int i=0;i<nChannels;i++) Serial.printf("%7s\t",rcCh[i].getName());
 	Serial.println();
+
+	// print pwm
+	Serial.printf("pwm      :\t");
+	for (int i=0;i<nChannels;i++) Serial.printf("%7d\t",rcCh[i].getPwm());
+	Serial.println();
+
+	// print position
 	Serial.printf("position :\t");
-	for (int i=0;i<nChannels;i++) Serial.printf("%7.2f\t",rc[i]->getPosition());
+	for (int i=0;i<nChannels;i++) Serial.printf("%7.2f\t",rcCh[i].getPosition());
 	Serial.println();
-	delay(100);
+
+	delay(500);
 }
diff --git a/libraries/AP_RcChannel/examples/ServoSweep/ServoSweep.pde b/libraries/AP_RcChannel/examples/ServoSweep/ServoSweep.pde
index 997707a726..826f60e20b 100644
--- a/libraries/AP_RcChannel/examples/ServoSweep/ServoSweep.pde
+++ b/libraries/AP_RcChannel/examples/ServoSweep/ServoSweep.pde
@@ -5,7 +5,6 @@
 
 */
 
-#define AP_DISPLAYMEM
 #include <FastSerial.h>
 #include <AP_Common.h>
 #include <AP_RcChannel.h> 	// ArduPilot Mega RC Library
@@ -31,28 +30,45 @@ AP_RcChannel rcCh[] =
 };
 
 // test position
-float testPosition = 0;
+float testPosition = 2;
 int8_t testSign = 1;
 
 void setup()
 {
 	Serial.begin(115200);
+	delay(2000);
+
 	Serial.println("ArduPilot RC Channel test");
 
 	APM_RC.Init();		// APM Radio initialization
 
-	eepromRegistry.print(Serial); // show eeprom map
+	delay(2000);
 }
 
 void loop()	
 {
+	// update test value
+	testPosition += testSign*.1;
+	if (testPosition > 1)
+	{
+		eepromRegistry.print(Serial); // show eeprom map
+		testPosition = 1;
+		testSign = -1;
+	}
+	else if (testPosition < -1)
+	{
+		testPosition = -1;
+		testSign = 1;
+	}
+
 	// set channel positions
 	for (int i=0;i<nChannels;i++) rcCh[i].setNormalized(testPosition);
 
 	// print test position
-	Serial.printf("\ntestPosition (%f)\n\t\t",testPosition);
+	Serial.printf("\nnormalized position (%f)\n",testPosition);
 
-	// print channgel names
+	// print channel names
+	Serial.print("\t\t");
 	for (int i=0;i<nChannels;i++) Serial.printf("%7s\t",rcCh[i].getName());
 	Serial.println();
 
@@ -66,18 +82,5 @@ void loop()
 	for (int i=0;i<nChannels;i++) Serial.printf("%7.2f\t",rcCh[i].getPosition());
 	Serial.println();
 
-	// update test value
-	testPosition += testSign*.05;
-	if (testPosition > 1)
-	{
-		testPosition = 1;
-		testSign = -1;
-	}
-	else if (testPosition < -1)
-	{
-		testPosition = -1;
-		testSign = 1;
-	}
-
-	delay(100);
+	delay(500);
 }
diff --git a/libraries/AP_RcChannel/examples/Usage/Usage.pde b/libraries/AP_RcChannel/examples/Usage/Usage.pde
deleted file mode 100644
index 4e6b5c2eeb..0000000000
--- a/libraries/AP_RcChannel/examples/Usage/Usage.pde
+++ /dev/null
@@ -1,84 +0,0 @@
-/*
-	Example of RC_Channel library.
-	Code by James Goppert/ Jason Short. 2010 
-	DIYDrones.com
-
-*/
-
-#include <FastSerial.h>
-#include <AP_Common.h>
-#include <AP_RcChannel.h> 	// ArduPilot Mega RC Library
-#include <AP_EEProm.h>
-#include <APM_RC.h>
-
-FastSerialPort0(Serial); // make sure this proceed variable declarations 
-
-AP_EEPromVar<float> scale(45.0,"RC1_SCALE");
-AP_EEPromVar<uint16_t> pwmMin(1000,"RC1_PWMMIN");
-AP_EEPromVar<uint16_t> pwmNeutral(1500,"RC1_PWMNEUTRAL");
-AP_EEPromVar<uint16_t> pwmMax(2000,"RC1_PWMMAX");
-AP_EEPromVar<uint16_t> pwmDeadZone(100,"RC1_PWMDEADZONE");
-
-#define CH_1 0
-
-// configuration
-AP_Var<bool> filter(false,"RC1_FILTER");
-AP_Var<bool> reverse(false,"RC1_REVERSE");
-
-float testPosition = 0;
-uint16_t testPwm = 1500;
-
-AP_RcChannel rc[] = 
-{
-	AP_RcChannel(APM_RC,CH_1,scale.get(),pwmMin.get(),pwmNeutral.get(),pwmMax.get(),
-			pwmDeadZone.get(),filter.get(),reverse.get())	
-
-};
-
-void setup()
-{
-	Serial.begin(115200);
-	Serial.println("ArduPilot RC Channel test");
-	APM_RC.Init();		// APM Radio initialization
-
-	delay(1000);
-
-	// configuratoin
-	scale.set(100);
-	Serial.printf("\nscale.set(100)\n");
-	delay(2000);
-
-	// find neutral radio position
-	rc[CH_1].readRadio();
-	Serial.printf("\nrc[CH_1].readRadio()\n");
-	Serial.printf("\npwmNeutral.set(rc[CH_1].getPwm())\n");
-	pwmNeutral.set(rc[CH_1].getPwm());
-	delay(2000);
-}
-
-void loop()	
-{
-	// get the min pwm
-	Serial.printf("\npwmMin.get(): %d\n", pwmMin.get());
-	delay(2000);
-
-	// set by pwm 
-	rc[CH_1].setPwm(testPwm);
-	Serial.printf("\nrc[CH_1].setPwm(1500)\n");
-	Serial.printf("pwm: %d position: %f\n",rc[CH_1].getPwm(),
-			rc[CH_1].getPosition());
-	delay(2000);
-
-	// set by position
-	rc[CH_1].setPosition(testPosition);
-	Serial.printf("\nrc[CH_1].setPosition(-50))\n");
-	Serial.printf("pwm: %d position: %f\n",rc[CH_1].getPwm(),
-			rc[CH_1].getPosition());
-	delay(2000);
-
-	// update test value
-	testPosition += 10;
-	if (testPosition > 100) testPosition = -100;
-	testPwm += 100;
-	if (testPwm > 1800) testPosition = 1200;
-}