diff --git a/ArduCopter/afs_copter.cpp b/ArduCopter/afs_copter.cpp
index 940459bfe9..16127979eb 100644
--- a/ArduCopter/afs_copter.cpp
+++ b/ArduCopter/afs_copter.cpp
@@ -28,12 +28,12 @@ void AP_AdvancedFailsafe_Copter::terminate_vehicle(void)
         copter.arming.disarm();
     
         // and set all aux channels
-        SRV_Channels::set_output_limit(SRV_Channel::k_heli_rsc, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
-        SRV_Channels::set_output_limit(SRV_Channel::k_heli_tail_rsc, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
-        SRV_Channels::set_output_limit(SRV_Channel::k_engine_run_enable, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
-        SRV_Channels::set_output_limit(SRV_Channel::k_ignition, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
-        SRV_Channels::set_output_limit(SRV_Channel::k_none, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
-        SRV_Channels::set_output_limit(SRV_Channel::k_manual, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+        SRV_Channels::set_output_limit(SRV_Channel::k_heli_rsc, SRV_Channel::Limit::TRIM);
+        SRV_Channels::set_output_limit(SRV_Channel::k_heli_tail_rsc, SRV_Channel::Limit::TRIM);
+        SRV_Channels::set_output_limit(SRV_Channel::k_engine_run_enable, SRV_Channel::Limit::TRIM);
+        SRV_Channels::set_output_limit(SRV_Channel::k_ignition, SRV_Channel::Limit::TRIM);
+        SRV_Channels::set_output_limit(SRV_Channel::k_none, SRV_Channel::Limit::TRIM);
+        SRV_Channels::set_output_limit(SRV_Channel::k_manual, SRV_Channel::Limit::TRIM);
     }
 
     SRV_Channels::output_ch_all();
@@ -42,12 +42,12 @@ void AP_AdvancedFailsafe_Copter::terminate_vehicle(void)
 void AP_AdvancedFailsafe_Copter::setup_IO_failsafe(void)
 {
     // setup failsafe for all aux channels
-    SRV_Channels::set_failsafe_limit(SRV_Channel::k_heli_rsc, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
-    SRV_Channels::set_failsafe_limit(SRV_Channel::k_heli_tail_rsc, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
-    SRV_Channels::set_failsafe_limit(SRV_Channel::k_engine_run_enable, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
-    SRV_Channels::set_failsafe_limit(SRV_Channel::k_ignition, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
-    SRV_Channels::set_failsafe_limit(SRV_Channel::k_none, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
-    SRV_Channels::set_failsafe_limit(SRV_Channel::k_manual, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+    SRV_Channels::set_failsafe_limit(SRV_Channel::k_heli_rsc, SRV_Channel::Limit::TRIM);
+    SRV_Channels::set_failsafe_limit(SRV_Channel::k_heli_tail_rsc, SRV_Channel::Limit::TRIM);
+    SRV_Channels::set_failsafe_limit(SRV_Channel::k_engine_run_enable, SRV_Channel::Limit::TRIM);
+    SRV_Channels::set_failsafe_limit(SRV_Channel::k_ignition, SRV_Channel::Limit::TRIM);
+    SRV_Channels::set_failsafe_limit(SRV_Channel::k_none, SRV_Channel::Limit::TRIM);
+    SRV_Channels::set_failsafe_limit(SRV_Channel::k_manual, SRV_Channel::Limit::TRIM);
 
 #if FRAME_CONFIG != HELI_FRAME
     // setup AP_Motors outputs for failsafe