diff --git a/libraries/RC_Channel/RC_Channel_aux.cpp b/libraries/RC_Channel/RC_Channel_aux.cpp
index 3f6cab7b51..aced4ef890 100644
--- a/libraries/RC_Channel/RC_Channel_aux.cpp
+++ b/libraries/RC_Channel/RC_Channel_aux.cpp
@@ -33,16 +33,16 @@ RC_Channel_aux::output_ch(void)
     case k_none:                // disabled
         return;
     case k_manual:              // manual
-        radio_out = radio_in;
+        set_radio_out(get_radio_in());
         break;
     case k_rcin1 ... k_rcin16: // rc pass-thru
-        radio_out = hal.rcin->read(function-k_rcin1);
+        set_radio_out(hal.rcin->read(function-k_rcin1));
         break;
     case k_motor1 ... k_motor8:
         // handled by AP_Motors::rc_write()
         return;
     }
-    hal.rcout->write(_ch_out, radio_out);
+    hal.rcout->write(_ch_out, get_radio_out());
 }
 
 /*
@@ -153,13 +153,13 @@ void RC_Channel_aux::enable_aux_servos()
     // trim value on startup
     for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
         if (_aux_channels[i]) {
-			RC_Channel_aux::Aux_servo_function_t function = (RC_Channel_aux::Aux_servo_function_t)_aux_channels[i]->function.get();
-			// see if it is a valid function
-			if (function < RC_Channel_aux::k_nr_aux_servo_functions) {
-				_aux_channels[i]->enable_out();
-			}
-		}
-	}
+			   RC_Channel_aux::Aux_servo_function_t function = (RC_Channel_aux::Aux_servo_function_t)_aux_channels[i]->function.get();
+			   // see if it is a valid function
+			   if (function < RC_Channel_aux::k_nr_aux_servo_functions) {
+				    _aux_channels[i]->enable_out();
+			   }
+		  }
+	 }
 }
 
 /*
@@ -173,9 +173,9 @@ RC_Channel_aux::set_radio(RC_Channel_aux::Aux_servo_function_t function, int16_t
     }
     for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
         if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
-			_aux_channels[i]->radio_out = constrain_int16(value,_aux_channels[i]->radio_min,_aux_channels[i]->radio_max);
+			   _aux_channels[i]->set_radio_out(constrain_int16(value,_aux_channels[i]->get_radio_min(),_aux_channels[i]->get_radio_max()));
             _aux_channels[i]->output();
-		}
+		  }
     }
 }
 
@@ -190,10 +190,10 @@ RC_Channel_aux::set_radio_trimmed(RC_Channel_aux::Aux_servo_function_t function,
     }
     for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
         if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
-        	int16_t value2 = value - 1500 + _aux_channels[i]->radio_trim;
-			_aux_channels[i]->radio_out = constrain_int16(value2,_aux_channels[i]->radio_min,_aux_channels[i]->radio_max);
+        	   int16_t value2 = value - 1500 + _aux_channels[i]->get_radio_trim();
+			   _aux_channels[i]->set_radio_out(constrain_int16(value2,_aux_channels[i]->get_radio_min(),_aux_channels[i]->get_radio_max()));
             _aux_channels[i]->output();
-		}
+		  }
     }
 }
 
@@ -202,18 +202,18 @@ RC_Channel_aux::set_radio_trimmed(RC_Channel_aux::Aux_servo_function_t function,
   the given function type
  */
 void
-RC_Channel_aux::set_radio_trim(RC_Channel_aux::Aux_servo_function_t function)
+RC_Channel_aux::set_trim_to_radio_in_for(RC_Channel_aux::Aux_servo_function_t function)
 {
     if (!function_assigned(function)) {
         return;
     }
     for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
         if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
-			if (_aux_channels[i]->radio_in != 0) {
-				_aux_channels[i]->radio_trim = _aux_channels[i]->radio_in;
-				_aux_channels[i]->radio_trim.save();
-			}
-		}
+			   if (_aux_channels[i]->get_radio_in() != 0) {
+				    _aux_channels[i]->set_radio_trim( _aux_channels[i]->get_radio_in());
+				    _aux_channels[i]->save_radio_trim();
+			   }
+		  }
     }
 }
 
@@ -228,9 +228,9 @@ RC_Channel_aux::set_radio_to_min(RC_Channel_aux::Aux_servo_function_t function)
     }
     for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
         if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
-            _aux_channels[i]->radio_out = _aux_channels[i]->radio_min;
+            _aux_channels[i]->set_radio_out( _aux_channels[i]->get_radio_min());
             _aux_channels[i]->output();
-		}
+		  }
     }
 }
 
@@ -245,7 +245,7 @@ RC_Channel_aux::set_radio_to_max(RC_Channel_aux::Aux_servo_function_t function)
     }
     for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
         if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
-            _aux_channels[i]->radio_out = _aux_channels[i]->radio_max;
+            _aux_channels[i]->set_radio_out(_aux_channels[i]->get_radio_max());
             _aux_channels[i]->output();
 		}
     }
@@ -262,9 +262,9 @@ RC_Channel_aux::set_radio_to_trim(RC_Channel_aux::Aux_servo_function_t function)
     }
     for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
         if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
-			_aux_channels[i]->radio_out = _aux_channels[i]->radio_trim;
+			   _aux_channels[i]->set_radio_out( _aux_channels[i]->get_radio_trim());
             _aux_channels[i]->output();
-		}
+		  }
     }
 }
 
@@ -279,14 +279,14 @@ RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::Aux_servo_function_t function,
     }
     for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
         if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
-			if (do_input_output) {
-				_aux_channels[i]->input();
-			}
-			_aux_channels[i]->radio_out = _aux_channels[i]->radio_in;
-			if (do_input_output) {
-				_aux_channels[i]->output();
-			}
-		}
+			   if (do_input_output) {
+				    _aux_channels[i]->input();
+			   }
+			   _aux_channels[i]->set_radio_out(_aux_channels[i]->get_radio_in());
+			   if (do_input_output) {
+				    _aux_channels[i]->output();
+			   }
+		  }
     }
 }
 
@@ -294,17 +294,17 @@ RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::Aux_servo_function_t function,
   set servo_out and call calc_pwm() for a given function
  */
 void
-RC_Channel_aux::set_servo_out(RC_Channel_aux::Aux_servo_function_t function, int16_t value)
+RC_Channel_aux::set_servo_out_for(RC_Channel_aux::Aux_servo_function_t function, int16_t value)
 {
     if (!function_assigned(function)) {
         return;
     }
     for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
         if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
-			_aux_channels[i]->servo_out = value;
-			_aux_channels[i]->calc_pwm();
+			   _aux_channels[i]->set_servo_out(value);
+			   _aux_channels[i]->calc_pwm();
             _aux_channels[i]->output();
-		}
+		  }
     }
 }
 
@@ -356,15 +356,15 @@ RC_Channel_aux::set_servo_limit(RC_Channel_aux::Aux_servo_function_t function, R
         RC_Channel_aux *ch = _aux_channels[i];
         if (ch && ch->function.get() == function) {
             uint16_t pwm = ch->get_limit_pwm(limit);
-            ch->radio_out = pwm;
+            ch->set_radio_out(pwm);
             if (ch->function.get() == k_manual) {
                 // in order for output_ch() to work for k_manual we
                 // also have to override radio_in
-                ch->radio_in = pwm;
+                ch->set_radio_in(pwm);
             }
             if (ch->function.get() >= k_rcin1 && ch->function.get() <= k_rcin16) {
                 // save for k_rcin*
-                ch->radio_in = pwm;
+                ch->set_radio_in(pwm);
             }
         }
     }
@@ -379,7 +379,7 @@ RC_Channel_aux::function_assigned(RC_Channel_aux::Aux_servo_function_t function)
     if (function < k_nr_aux_servo_functions) {
         return (_function_mask & (1ULL<<function)) != 0;
     }
-	return false;
+	 return false;
 }
 
 /*
@@ -395,7 +395,7 @@ RC_Channel_aux::move_servo(RC_Channel_aux::Aux_servo_function_t function,
     }
     for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
         if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
-			_aux_channels[i]->servo_out = value;
+			_aux_channels[i]->set_servo_out(value);
 			_aux_channels[i]->set_range(angle_min, angle_max);
 			_aux_channels[i]->calc_pwm();
 			_aux_channels[i]->output();
diff --git a/libraries/RC_Channel/RC_Channel_aux.h b/libraries/RC_Channel/RC_Channel_aux.h
index 4adc14c7fa..959c25d6d0 100644
--- a/libraries/RC_Channel/RC_Channel_aux.h
+++ b/libraries/RC_Channel/RC_Channel_aux.h
@@ -108,7 +108,7 @@ public:
 	static void set_radio_trimmed(Aux_servo_function_t function, int16_t value);
 
 	// set and save the trim for a function channel to radio_in
-	static void set_radio_trim(Aux_servo_function_t function);
+	static void set_trim_to_radio_in_for(Aux_servo_function_t function);
 
 	// set radio_out to radio_min
 	static void set_radio_to_min(Aux_servo_function_t function);
@@ -123,7 +123,7 @@ public:
 	static void copy_radio_in_out(Aux_servo_function_t function, bool do_input_output=false);
 
 	// set servo_out
-	static void set_servo_out(Aux_servo_function_t function, int16_t value);
+	static void set_servo_out_for(Aux_servo_function_t function, int16_t value);
 
     // setup failsafe for an auxillary channel function, by pwm
     static void set_servo_failsafe_pwm(RC_Channel_aux::Aux_servo_function_t function, uint16_t pwm);