diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index fa49e9d04a..881b86e11c 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -863,7 +863,6 @@ private:
     void update_heli_control_dynamics(void);
     void heli_update_landing_swash();
     void heli_update_rotor_speed_targets();
-    void heli_radio_passthrough();
     bool heli_acro_init(bool ignore_checks);
     void heli_acro_run();
     bool heli_stabilize_init(bool ignore_checks);
diff --git a/ArduCopter/flight_mode.cpp b/ArduCopter/flight_mode.cpp
index 16451037ea..6e91a3af4a 100644
--- a/ArduCopter/flight_mode.cpp
+++ b/ArduCopter/flight_mode.cpp
@@ -266,9 +266,6 @@ void Copter::exit_mode(uint8_t old_control_mode, uint8_t new_control_mode)
             input_manager.set_stab_col_ramp(0.0);
         }
     }
-
-    // reset RC Passthrough to motors
-    motors.reset_radio_passthrough();
 #endif //HELI_FRAME
 }
 
diff --git a/ArduCopter/heli.cpp b/ArduCopter/heli.cpp
index 644bf2f833..c8eed908c2 100644
--- a/ArduCopter/heli.cpp
+++ b/ArduCopter/heli.cpp
@@ -193,10 +193,4 @@ void Copter::heli_update_rotor_speed_targets()
     rotor_runup_complete_last = motors.rotor_runup_complete();
 }
 
-// heli_radio_passthrough send RC inputs direct into motors library for use during manual passthrough for helicopter setup
-void Copter::heli_radio_passthrough()
-{
-    motors.set_radio_passthrough(channel_roll->control_in/1000.0f, channel_pitch->control_in/1000.0f, channel_throttle->control_in/1000.0f, channel_yaw->control_in/1000.0f);
-}
-
 #endif  // FRAME_CONFIG == HELI_FRAME
diff --git a/ArduCopter/heli_control_acro.cpp b/ArduCopter/heli_control_acro.cpp
index 535c7bdf73..4f8c3eb395 100644
--- a/ArduCopter/heli_control_acro.cpp
+++ b/ArduCopter/heli_control_acro.cpp
@@ -47,9 +47,6 @@ void Copter::heli_acro_run()
         }
     }   
 
-    // send RC inputs direct into motors library for use during manual passthrough for helicopter setup
-    heli_radio_passthrough();
-
     if (!motors.has_flybar()){
         // convert the input to the desired body frame rate
         get_pilot_desired_angle_rates(channel_roll->control_in, channel_pitch->control_in, channel_yaw->control_in, target_roll, target_pitch, target_yaw);
diff --git a/ArduCopter/heli_control_stabilize.cpp b/ArduCopter/heli_control_stabilize.cpp
index 9936036512..e646b2ca2d 100644
--- a/ArduCopter/heli_control_stabilize.cpp
+++ b/ArduCopter/heli_control_stabilize.cpp
@@ -46,9 +46,6 @@ void Copter::heli_stabilize_run()
         }
     }
 
-    // send RC inputs direct into motors library for use during manual passthrough for helicopter setup
-    heli_radio_passthrough();
-
     // apply SIMPLE mode transform to pilot inputs
     update_simple_mode();