diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index 822ee8321d..303aed5a03 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/ArduCopter/AP_Arming.cpp
@@ -557,3 +557,178 @@ void AP_Arming_Copter::set_pre_arm_check(bool b)
     copter.ap.pre_arm_check = b;
     AP_Notify::flags.pre_arm_check = b;
 }
+
+bool AP_Arming_Copter::arm(const AP_Arming::Method method, const bool do_arming_checks)
+{
+    static bool in_arm_motors = false;
+
+    // exit immediately if already in this function
+    if (in_arm_motors) {
+        return false;
+    }
+    in_arm_motors = true;
+
+    // return true if already armed
+    if (copter.motors->armed()) {
+        in_arm_motors = false;
+        return true;
+    }
+
+    if (!AP_Arming::arm(method, do_arming_checks)) {
+        AP_Notify::events.arming_failed = true;
+        in_arm_motors = false;
+        return false;
+    }
+
+    // let logger know that we're armed (it may open logs e.g.)
+    AP::logger().set_vehicle_armed(true);
+
+    // disable cpu failsafe because initialising everything takes a while
+    copter.failsafe_disable();
+
+    // notify that arming will occur (we do this early to give plenty of warning)
+    AP_Notify::flags.armed = true;
+    // call notify update a few times to ensure the message gets out
+    for (uint8_t i=0; i<=10; i++) {
+        AP::notify().update();
+    }
+
+#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    gcs().send_text(MAV_SEVERITY_INFO, "Arming motors");
+#endif
+
+    // Remember Orientation
+    // --------------------
+    copter.init_simple_bearing();
+
+    AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
+
+    copter.initial_armed_bearing = ahrs.yaw_sensor;
+
+    if (!ahrs.home_is_set()) {
+        // Reset EKF altitude if home hasn't been set yet (we use EKF altitude as substitute for alt above home)
+        ahrs.resetHeightDatum();
+        AP::logger().Write_Event(DATA_EKF_ALT_RESET);
+
+        // we have reset height, so arming height is zero
+        copter.arming_altitude_m = 0;
+    } else if (!ahrs.home_is_locked()) {
+        // Reset home position if it has already been set before (but not locked)
+        if (!copter.set_home_to_current_location(false)) {
+            // ignore failure
+        }
+
+        // remember the height when we armed
+        copter.arming_altitude_m = copter.inertial_nav.get_altitude() * 0.01;
+    }
+    copter.update_super_simple_bearing(false);
+
+    // Reset SmartRTL return location. If activated, SmartRTL will ultimately try to land at this point
+#if MODE_SMARTRTL_ENABLED == ENABLED
+    copter.g2.smart_rtl.set_home(copter.position_ok());
+#endif
+
+    // enable gps velocity based centrefugal force compensation
+    ahrs.set_correct_centrifugal(true);
+    hal.util->set_soft_armed(true);
+
+#if SPRAYER_ENABLED == ENABLED
+    // turn off sprayer's test if on
+    copter.sprayer.test_pump(false);
+#endif
+
+    // enable output to motors
+    copter.enable_motor_output();
+
+    // finally actually arm the motors
+    copter.motors->armed(true);
+
+    AP::logger().Write_Event(DATA_ARMED);
+
+    // log flight mode in case it was changed while vehicle was disarmed
+    AP::logger().Write_Mode(copter.control_mode, copter.control_mode_reason);
+
+    // re-enable failsafe
+    copter.failsafe_enable();
+
+    // perf monitor ignores delay due to arming
+    AP::scheduler().perf_info.ignore_this_loop();
+
+    // flag exiting this function
+    in_arm_motors = false;
+
+    // Log time stamp of arming event
+    copter.arm_time_ms = millis();
+
+    // Start the arming delay
+    copter.ap.in_arming_delay = true;
+
+    // assumed armed without a arming, switch. Overridden in switches.cpp
+    copter.ap.armed_with_switch = false;
+
+    // return success
+    return true;
+}
+
+// arming.disarm - disarm motors
+bool AP_Arming_Copter::disarm()
+{
+    // return immediately if we are already disarmed
+    if (!copter.motors->armed()) {
+        return true;
+    }
+
+    if (!AP_Arming::disarm()) {
+        return false;
+    }
+
+#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    gcs().send_text(MAV_SEVERITY_INFO, "Disarming motors");
+#endif
+
+    AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
+
+    // save compass offsets learned by the EKF if enabled
+    Compass &compass = AP::compass();
+    if (ahrs.use_compass() && compass.get_learn_type() == Compass::LEARN_EKF) {
+        for(uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
+            Vector3f magOffsets;
+            if (ahrs.getMagOffsets(i, magOffsets)) {
+                compass.set_and_save_offsets(i, magOffsets);
+            }
+        }
+    }
+
+#if AUTOTUNE_ENABLED == ENABLED
+    // save auto tuned parameters
+    if (copter.flightmode == &copter.mode_autotune) {
+        copter.mode_autotune.save_tuning_gains();
+    } else {
+        copter.mode_autotune.reset();
+    }
+#endif
+
+    // we are not in the air
+    copter.set_land_complete(true);
+    copter.set_land_complete_maybe(true);
+
+    AP::logger().Write_Event(DATA_DISARMED);
+
+    // send disarm command to motors
+    copter.motors->armed(false);
+
+#if MODE_AUTO_ENABLED == ENABLED
+    // reset the mission
+    copter.mode_auto.mission.reset();
+#endif
+
+    AP::logger().set_vehicle_armed(false);
+
+    // disable gps velocity based centrefugal force compensation
+    ahrs.set_correct_centrifugal(false);
+    hal.util->set_soft_armed(false);
+
+    copter.ap.in_arming_delay = false;
+
+    return true;
+}
diff --git a/ArduCopter/motors.cpp b/ArduCopter/motors.cpp
index 5ed77b1987..7add94315c 100644
--- a/ArduCopter/motors.cpp
+++ b/ArduCopter/motors.cpp
@@ -129,181 +129,6 @@ void Copter::auto_disarm_check()
     }
 }
 
-bool AP_Arming_Copter::arm(const AP_Arming::Method method, const bool do_arming_checks)
-{
-    static bool in_arm_motors = false;
-
-    // exit immediately if already in this function
-    if (in_arm_motors) {
-        return false;
-    }
-    in_arm_motors = true;
-
-    // return true if already armed
-    if (copter.motors->armed()) {
-        in_arm_motors = false;
-        return true;
-    }
-
-    if (!AP_Arming::arm(method, do_arming_checks)) {
-        AP_Notify::events.arming_failed = true;
-        in_arm_motors = false;
-        return false;
-    }
-
-    // let logger know that we're armed (it may open logs e.g.)
-    AP::logger().set_vehicle_armed(true);
-
-    // disable cpu failsafe because initialising everything takes a while
-    copter.failsafe_disable();
-
-    // notify that arming will occur (we do this early to give plenty of warning)
-    AP_Notify::flags.armed = true;
-    // call notify update a few times to ensure the message gets out
-    for (uint8_t i=0; i<=10; i++) {
-        AP::notify().update();
-    }
-
-#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
-    gcs().send_text(MAV_SEVERITY_INFO, "Arming motors");
-#endif
-
-    // Remember Orientation
-    // --------------------
-    copter.init_simple_bearing();
-
-    AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
-
-    copter.initial_armed_bearing = ahrs.yaw_sensor;
-
-    if (!ahrs.home_is_set()) {
-        // Reset EKF altitude if home hasn't been set yet (we use EKF altitude as substitute for alt above home)
-        ahrs.resetHeightDatum();
-        AP::logger().Write_Event(DATA_EKF_ALT_RESET);
-
-        // we have reset height, so arming height is zero
-        copter.arming_altitude_m = 0;
-    } else if (!ahrs.home_is_locked()) {
-        // Reset home position if it has already been set before (but not locked)
-        if (!copter.set_home_to_current_location(false)) {
-            // ignore failure
-        }
-
-        // remember the height when we armed
-        copter.arming_altitude_m = copter.inertial_nav.get_altitude() * 0.01;
-    }
-    copter.update_super_simple_bearing(false);
-
-    // Reset SmartRTL return location. If activated, SmartRTL will ultimately try to land at this point
-#if MODE_SMARTRTL_ENABLED == ENABLED
-    copter.g2.smart_rtl.set_home(copter.position_ok());
-#endif
-
-    // enable gps velocity based centrefugal force compensation
-    ahrs.set_correct_centrifugal(true);
-    hal.util->set_soft_armed(true);
-
-#if SPRAYER_ENABLED == ENABLED
-    // turn off sprayer's test if on
-    copter.sprayer.test_pump(false);
-#endif
-
-    // enable output to motors
-    copter.enable_motor_output();
-
-    // finally actually arm the motors
-    copter.motors->armed(true);
-
-    AP::logger().Write_Event(DATA_ARMED);
-
-    // log flight mode in case it was changed while vehicle was disarmed
-    AP::logger().Write_Mode(copter.control_mode, copter.control_mode_reason);
-
-    // re-enable failsafe
-    copter.failsafe_enable();
-
-    // perf monitor ignores delay due to arming
-    AP::scheduler().perf_info.ignore_this_loop();
-
-    // flag exiting this function
-    in_arm_motors = false;
-
-    // Log time stamp of arming event
-    copter.arm_time_ms = millis();
-
-    // Start the arming delay
-    copter.ap.in_arming_delay = true;
-
-    // assumed armed without a arming, switch. Overridden in switches.cpp
-    copter.ap.armed_with_switch = false;
-
-    // return success
-    return true;
-}
-
-// arming.disarm - disarm motors
-bool AP_Arming_Copter::disarm()
-{
-    // return immediately if we are already disarmed
-    if (!copter.motors->armed()) {
-        return true;
-    }
-
-    if (!AP_Arming::disarm()) {
-        return false;
-    }
-
-#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
-    gcs().send_text(MAV_SEVERITY_INFO, "Disarming motors");
-#endif
-
-    AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
-
-    // save compass offsets learned by the EKF if enabled
-    Compass &compass = AP::compass();
-    if (ahrs.use_compass() && compass.get_learn_type() == Compass::LEARN_EKF) {
-        for(uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
-            Vector3f magOffsets;
-            if (ahrs.getMagOffsets(i, magOffsets)) {
-                compass.set_and_save_offsets(i, magOffsets);
-            }
-        }
-    }
-
-#if AUTOTUNE_ENABLED == ENABLED
-    // save auto tuned parameters
-    if (copter.flightmode == &copter.mode_autotune) {
-        copter.mode_autotune.save_tuning_gains();
-    } else {
-        copter.mode_autotune.reset();
-    }
-#endif
-
-    // we are not in the air
-    copter.set_land_complete(true);
-    copter.set_land_complete_maybe(true);
-
-    AP::logger().Write_Event(DATA_DISARMED);
-
-    // send disarm command to motors
-    copter.motors->armed(false);
-
-#if MODE_AUTO_ENABLED == ENABLED
-    // reset the mission
-    copter.mode_auto.mission.reset();
-#endif
-
-    AP::logger().set_vehicle_armed(false);
-
-    // disable gps velocity based centrefugal force compensation
-    ahrs.set_correct_centrifugal(false);
-    hal.util->set_soft_armed(false);
-
-    copter.ap.in_arming_delay = false;
-
-    return true;
-}
-
 // motors_output - send output to motors library which will adjust and send to ESCs and servos
 void Copter::motors_output()
 {