diff --git a/ArduCopter/radio.cpp b/ArduCopter/radio.cpp
index a20d3df337..e87b076016 100644
--- a/ArduCopter/radio.cpp
+++ b/ArduCopter/radio.cpp
@@ -69,12 +69,6 @@ void Copter::init_rc_out()
     // check if we should enter esc calibration mode
     esc_calibration_startup_check();
 
-    // enable output to motors
-    arming.pre_arm_rc_checks(true);
-    if (ap.pre_arm_rc_check) {
-        enable_motor_output();
-    }
-
     // refresh auxiliary channel to function map
     SRV_Channels::update_aux_servo_function();
 
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index 9b9383dac7..aa05f6a7c1 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -307,6 +307,12 @@ void Copter::init_ardupilot()
     ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
     ins.set_dataflash(&DataFlash);
 
+    // enable output to motors
+    arming.pre_arm_rc_checks(true);
+    if (ap.pre_arm_rc_check) {
+        enable_motor_output();
+    }
+
     cliSerial->printf("\nReady to FLY ");
 
     // flag that initialisation has completed