diff --git a/libraries/AP_RcChannel/examples/Manual/ServoSweep.pde b/libraries/AP_RcChannel/examples2/Manual.pde
similarity index 53%
rename from libraries/AP_RcChannel/examples/Manual/ServoSweep.pde
rename to libraries/AP_RcChannel/examples2/Manual.pde
index ab4e6892a4..85ae2143b1 100644
--- a/libraries/AP_RcChannel/examples/Manual/ServoSweep.pde
+++ b/libraries/AP_RcChannel/examples2/Manual.pde
@@ -11,9 +11,12 @@
 #include <AP_EEProm.h>
 #include <APM_RC.h>
 
+FastSerialPort0(Serial); // make sure this procees variable declarations
+
 // test settings
 uint8_t nChannels = 8;
-bool loadFromEEProm = false;
+bool loadEEProm = false;
+bool saveEEProm = false;
 
 // channel configuration
 Vector< AP_EEPromVar<float> * > scale;
@@ -23,15 +26,7 @@ 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 ;
-
-// test position
-float testPosition = 0;
-uint16_t testPwm = 1500;
-int8_t testSign = 1;
-
-// serial
-FastSerialPort0(Serial);
+Vector< AP_RcChannel * > rc;
 
 void setup()
 {
@@ -42,18 +37,34 @@ void setup()
 	// add channels
 	for (int i=0;i<nChannels;i++)
 	{
-		char num[2];
-		itoa(i,num,10);
+		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)));
-		pwmMax.push_back(new AP_EEPromVar<uint16_t>(10,strcat("PWM_DEADZONE",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 (loadFromEEProm)
+		if (loadEEProm)
 		{
 			scale[i]->load();
 			pwmMin[i]->load();
@@ -64,24 +75,30 @@ void setup()
 			reverse[i]->load();
 		}
 
-		// add rc channel
-		rc.push_back(new AP_RcChannel(APM_RC,i,scale[i]->get(),
+		// 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()));	
+			pwmDeadZone[i]->get(),filter[i]->get(),reverse[i]->get());
 
-		// find neutral position
-		rc[i]->readRadio();
-		pwmNeutral[i]->set(rc[i]->getPwm());
+		ch->readRadio();
+		pwmNeutral[i]->set(ch->getPwm());
+
+		// add rc channel
+		rc.push_back(ch);	
 	}
 }
 
 void loop()	
 {
-	// set channel positions
-	for (int i=0;i<7;i++)
-	{
-		rc[i]->getRadio();
-		Serial.printf("\npwm:\t%d\t\tposition:\t%f\n", rc[i]->getPwm(),rc[i]->getPosition());
-	}
+	// 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());
+	Serial.println();
+	Serial.printf("position :\t");
+	for (int i=0;i<nChannels;i++) Serial.printf("%7.2f\t",rc[i]->getPosition());
+	Serial.println();
 	delay(100);
 }
diff --git a/libraries/AP_RcChannel/examples/ServoSweep/ServoSweep.pde b/libraries/AP_RcChannel/examples2/ServoSweep/ServoSweep.pde
similarity index 56%
rename from libraries/AP_RcChannel/examples/ServoSweep/ServoSweep.pde
rename to libraries/AP_RcChannel/examples2/ServoSweep/ServoSweep.pde
index 5a1e6c2551..f89c96da52 100644
--- a/libraries/AP_RcChannel/examples/ServoSweep/ServoSweep.pde
+++ b/libraries/AP_RcChannel/examples2/ServoSweep/ServoSweep.pde
@@ -11,9 +11,12 @@
 #include <AP_EEProm.h>
 #include <APM_RC.h>
 
+FastSerialPort0(Serial); // make sure this procees variable declarations
+
 // test settings
 uint8_t nChannels = 8;
-bool loadFromEEProm = false;
+bool loadEEProm = false;
+bool saveEEProm = false;
 
 // channel configuration
 Vector< AP_EEPromVar<float> * > scale;
@@ -23,15 +26,13 @@ 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 ;
+Vector< AP_RcChannel * > rc;
 
 // test position
 float testPosition = 0;
 uint16_t testPwm = 1500;
 int8_t testSign = 1;
 
-// serial
-FastSerialPort0(Serial);
 
 void setup()
 {
@@ -42,18 +43,34 @@ void setup()
 	// add channels
 	for (int i=0;i<nChannels;i++)
 	{
-		char num[2];
-		itoa(i,num,10);
+		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)));
-		pwmMax.push_back(new AP_EEPromVar<uint16_t>(10,strcat("PWM_DEADZONE",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 (loadFromEEProm)
+		if (loadEEProm)
 		{
 			scale[i]->load();
 			pwmMin[i]->load();
@@ -64,36 +81,43 @@ void setup()
 			reverse[i]->load();
 		}
 
-		// add rc channel
-		rc.push_back(new AP_RcChannel(APM_RC,i,scale[i]->get(),
+		// 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()));	
+			pwmDeadZone[i]->get(),filter[i]->get(),reverse[i]->get());
 
-		// find neutral position
-		rc[i]->readRadio();
-		pwmNeutral[i]->set(rc[i]->getPwm());
+		ch->readRadio();
+		pwmNeutral[i]->set(ch->getPwm());
+
+		// add rc channel
+		rc.push_back(ch);	
 	}
 }
 
 void loop()	
 {
 	// set channel positions
-	for (int i=0;i<7;i++)
-	{
-		rc[i]->setPosition(testPosition);
-		Serial.printf("\npwm:\t%d\t\tposition:\t%f\n", rc[i]->getPwm(),rc[i]->getPosition());
-	}
+	Serial.println("In Loop");
+	for (int i=0;i<nChannels;i++) rc[i]->setPosition(testPosition);
+	
+	Serial.printf("\ntestPosition (%f)\n",testPosition);
+	Serial.printf("pwm      :\t");
+	for (int i=0;i<nChannels;i++) Serial.printf("%7d\t",rc[i]->getPwm());
+	Serial.println();
+	Serial.printf("position :\t");
+	for (int i=0;i<nChannels;i++) Serial.printf("%7.2f\t",rc[i]->getPosition());
+	Serial.println();
 
 	// update test value
 	testPosition += testSign*.05;
 	if (testPosition > 1)
 	{
-		testPosition = -1;
+		testPosition = 1;
 		testSign = -1;
 	}
-	else if (testPosition < 1)
+	else if (testPosition < -1)
 	{
-		testPosition = 1;
+		testPosition = -1;
 		testSign = 1;
 	}
 	delay(500);
diff --git a/libraries/AP_RcChannel/examples/AdvUsage/AdvUsage.pde b/libraries/AP_RcChannel/examples2/Usage/Usage.pde
similarity index 96%
rename from libraries/AP_RcChannel/examples/AdvUsage/AdvUsage.pde
rename to libraries/AP_RcChannel/examples2/Usage/Usage.pde
index d902ab7414..4e6b5c2eeb 100644
--- a/libraries/AP_RcChannel/examples/AdvUsage/AdvUsage.pde
+++ b/libraries/AP_RcChannel/examples2/Usage/Usage.pde
@@ -11,6 +11,8 @@
 #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");
@@ -26,8 +28,6 @@ AP_Var<bool> reverse(false,"RC1_REVERSE");
 float testPosition = 0;
 uint16_t testPwm = 1500;
 
-FastSerialPort0(Serial);
-
 AP_RcChannel rc[] = 
 {
 	AP_RcChannel(APM_RC,CH_1,scale.get(),pwmMin.get(),pwmNeutral.get(),pwmMax.get(),