diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 58381e911b..559a21dd21 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -349,10 +349,10 @@ void NOINLINE Copter::send_servo_out(mavlink_channel_t chan)
         chan,
         millis(),
         0, // port 0
-        g.rc_1.servo_out,
-        g.rc_2.servo_out,
-        g.rc_3.radio_out,
-        g.rc_4.servo_out,
+        g.rc_1.get_servo_out(),
+        g.rc_2.get_servo_out(),
+        g.rc_3.get_radio_out(),
+        g.rc_4.get_servo_out(),
         0,
         0,
         0,
@@ -363,10 +363,10 @@ void NOINLINE Copter::send_servo_out(mavlink_channel_t chan)
         chan,
         millis(),
         0,         // port 0
-        g.rc_1.servo_out,
-        g.rc_2.servo_out,
-        g.rc_3.radio_out,
-        g.rc_4.servo_out,
+        g.rc_1.get_servo_out(),
+        g.rc_2.get_servo_out(),
+        g.rc_3.get_radio_out(),
+        g.rc_4.get_servo_out(),
         10000 * g.rc_1.norm_output(),
         10000 * g.rc_2.norm_output(),
         10000 * g.rc_3.norm_output(),
diff --git a/ArduCopter/baro_ground_effect.cpp b/ArduCopter/baro_ground_effect.cpp
index 548c349e5f..8b9fe07906 100644
--- a/ArduCopter/baro_ground_effect.cpp
+++ b/ArduCopter/baro_ground_effect.cpp
@@ -39,7 +39,7 @@ void Copter::update_ground_effect_detector(void)
     }
 
     // if we aren't taking off yet, reset the takeoff timer, altitude and complete flag
-    bool throttle_up = mode_has_manual_throttle(control_mode) && g.rc_3.control_in > 0;
+    bool throttle_up = mode_has_manual_throttle(control_mode) && g.rc_3.get_control_in() > 0;
     if (!throttle_up && ap.land_complete) {
         gndeffect_state.takeoff_time_ms = tnow_ms;
         gndeffect_state.takeoff_alt_cm = inertial_nav.get_altitude();