diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index ed2058a58b..fbb178c62d 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -14,9 +14,7 @@
  */
 
 /*
- *       RC_Channel.cpp - Radio library for Arduino
- *       Code by Jason Short. DIYDrones.com
- *
+ *       RC_Channel.cpp - class for one RC channel input
  */
 
 #include <stdlib.h>
@@ -29,8 +27,6 @@ extern const AP_HAL::HAL& hal;
 
 #include "RC_Channel.h"
 
-RC_Channel *RC_Channels::channels;
-
 const AP_Param::GroupInfo RC_Channel::var_info[] = {
     // @Param: MIN
     // @DisplayName: RC min PWM
@@ -78,97 +74,12 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
 };
 
 
-const AP_Param::GroupInfo RC_Channels::var_info[] = {
-    // @Group: 1_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[0], "1_",  1, RC_Channels, RC_Channel),
-
-    // @Group: 2_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[1], "2_",  2, RC_Channels, RC_Channel),
-
-    // @Group: 3_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[2], "3_",  3, RC_Channels, RC_Channel),
-
-    // @Group: 4_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[3], "4_",  4, RC_Channels, RC_Channel),
-
-    // @Group: 5_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[4], "5_",  5, RC_Channels, RC_Channel),
-
-    // @Group: 6_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[5], "6_",  6, RC_Channels, RC_Channel),
-
-    // @Group: 7_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[6], "7_",  7, RC_Channels, RC_Channel),
-
-    // @Group: 8_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[7], "8_",  8, RC_Channels, RC_Channel),
-
-    // @Group: 9_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[8], "9_",  9, RC_Channels, RC_Channel),
-
-    // @Group: 10_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[9], "10_", 10, RC_Channels, RC_Channel),
-
-    // @Group: 11_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[10], "11_", 11, RC_Channels, RC_Channel),
-
-    // @Group: 12_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[11], "12_", 12, RC_Channels, RC_Channel),
-
-    // @Group: 13_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[12], "13_", 13, RC_Channels, RC_Channel),
-
-    // @Group: 14_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[13], "14_", 14, RC_Channels, RC_Channel),
-
-    // @Group: 15_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[14], "15_", 15, RC_Channels, RC_Channel),
-
-    // @Group: 16_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[15], "16_", 16, RC_Channels, RC_Channel),
-    
-    AP_GROUPEND
-};
-
-
 // constructor
 RC_Channel::RC_Channel(void)
 {
     AP_Param::setup_object_defaults(this, var_info);
 }
 
-/*
-  channels group object constructor
- */
-RC_Channels::RC_Channels(void)
-{
-    channels = obj_channels;
-    
-    // set defaults from the parameter table
-    AP_Param::setup_object_defaults(this, var_info);
-
-    // setup ch_in on channels
-    for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
-        channels[i].ch_in = i;
-    }
-}
-
 void
 RC_Channel::set_range(uint16_t high)
 {
@@ -209,17 +120,6 @@ RC_Channel::set_pwm(int16_t pwm)
     }
 }
 
-/*
-  call read() and set_pwm() on all channels
- */
-void
-RC_Channels::set_pwm_all(void)
-{
-    for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
-        channels[i].set_pwm(channels[i].read());
-    }
-}
-
 // read input from APM_RC - create a control_in value, but use a 
 // zero value for the dead zone. When done this way the control_in
 // value can be used as servo_out to give the same output as input
diff --git a/libraries/RC_Channel/RC_Channels.cpp b/libraries/RC_Channel/RC_Channels.cpp
new file mode 100644
index 0000000000..37e2a35d6e
--- /dev/null
+++ b/libraries/RC_Channel/RC_Channels.cpp
@@ -0,0 +1,127 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
+ *       RC_Channels.cpp - class containing an array of RC_Channel objects
+ *
+ */
+
+#include <stdlib.h>
+#include <cmath>
+
+#include <AP_HAL/AP_HAL.h>
+extern const AP_HAL::HAL& hal;
+
+#include <AP_Math/AP_Math.h>
+
+#include "RC_Channel.h"
+
+RC_Channel *RC_Channels::channels;
+
+const AP_Param::GroupInfo RC_Channels::var_info[] = {
+    // @Group: 1_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[0], "1_",  1, RC_Channels, RC_Channel),
+
+    // @Group: 2_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[1], "2_",  2, RC_Channels, RC_Channel),
+
+    // @Group: 3_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[2], "3_",  3, RC_Channels, RC_Channel),
+
+    // @Group: 4_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[3], "4_",  4, RC_Channels, RC_Channel),
+
+    // @Group: 5_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[4], "5_",  5, RC_Channels, RC_Channel),
+
+    // @Group: 6_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[5], "6_",  6, RC_Channels, RC_Channel),
+
+    // @Group: 7_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[6], "7_",  7, RC_Channels, RC_Channel),
+
+    // @Group: 8_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[7], "8_",  8, RC_Channels, RC_Channel),
+
+    // @Group: 9_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[8], "9_",  9, RC_Channels, RC_Channel),
+
+    // @Group: 10_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[9], "10_", 10, RC_Channels, RC_Channel),
+
+    // @Group: 11_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[10], "11_", 11, RC_Channels, RC_Channel),
+
+    // @Group: 12_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[11], "12_", 12, RC_Channels, RC_Channel),
+
+    // @Group: 13_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[12], "13_", 13, RC_Channels, RC_Channel),
+
+    // @Group: 14_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[13], "14_", 14, RC_Channels, RC_Channel),
+
+    // @Group: 15_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[14], "15_", 15, RC_Channels, RC_Channel),
+
+    // @Group: 16_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[15], "16_", 16, RC_Channels, RC_Channel),
+    
+    AP_GROUPEND
+};
+
+
+/*
+  channels group object constructor
+ */
+RC_Channels::RC_Channels(void)
+{
+    channels = obj_channels;
+    
+    // set defaults from the parameter table
+    AP_Param::setup_object_defaults(this, var_info);
+
+    // setup ch_in on channels
+    for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
+        channels[i].ch_in = i;
+    }
+}
+
+/*
+  call read() and set_pwm() on all channels
+ */
+void
+RC_Channels::set_pwm_all(void)
+{
+    for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
+        channels[i].set_pwm(channels[i].read());
+    }
+}