diff --git a/libraries/APM_RC/APM_RC.cpp b/libraries/APM_RC/APM_RC.cpp
deleted file mode 100644
index 87c2d32b98..0000000000
--- a/libraries/APM_RC/APM_RC.cpp
+++ /dev/null
@@ -1,9 +0,0 @@
-/*
- *       APM_RC_.cpp - Radio Control Library for Ardupilot Mega. Arduino
- *       Code by Jordi Muñoz and Jose Julio. DIYDrones.com
- *
- */
-#include "APM_RC.h"
-
-volatile uint32_t APM_RC_Class::_last_update;
-
diff --git a/libraries/APM_RC/APM_RC.h b/libraries/APM_RC/APM_RC.h
deleted file mode 100644
index 48ac4c4721..0000000000
--- a/libraries/APM_RC/APM_RC.h
+++ /dev/null
@@ -1,77 +0,0 @@
-#ifndef __APM_RC_H__
-#define __APM_RC_H__
-
-
-#include <inttypes.h>
-
-
-// Radio channels
-
-// Note channels are from 0!
-
-#define CH_1 0
-#define CH_2 1
-#define CH_3 2
-#define CH_4 3
-#define CH_5 4
-#define CH_6 5
-#define CH_7 6
-#define CH_8 7
-#define CH_9 8
-#define CH_10 9
-#define CH_11 10
-
-
-#define NUM_CHANNELS 8
-#define MIN_CHANNELS 5      // for ppm sum we allow less than 8 channels to make up a valid packet
-
-
-
-class Arduino_Mega_ISR_Registry;
-
-class APM_RC_Class
-
-{
-
-public:
-
-    virtual void            Init( Arduino_Mega_ISR_Registry * isr_reg ) = 0;
-    virtual void            OutputCh(uint8_t ch, uint16_t pwm) = 0;
-    virtual uint16_t        OutputCh_current(uint8_t ch) = 0;
-    virtual uint16_t        InputCh(uint8_t ch) = 0;
-    virtual uint8_t         GetState() = 0;
-    virtual void            clearOverride(void) = 0;
-    virtual void            Force_Out() = 0;
-    virtual void            SetFastOutputChannels( uint32_t channelmask, uint16_t speed_hz = 400 ) = 0;
-    virtual void            enable_out(uint8_t) = 0;
-    virtual void            disable_out(uint8_t) = 0;
-
-    virtual void            Force_Out0_Out1(void) = 0;
-    virtual void            Force_Out2_Out3(void) = 0;
-    virtual void            Force_Out6_Out7(void) = 0;
-
-    // get the time of the last radio update (_last_update modified by interrupt, so reading of variable must be interrupt safe)
-    virtual uint32_t        get_last_update() {
-        
-        uint32_t _tmp = _last_update;
-        while( _tmp != _last_update ) _tmp = _last_update;
-
-        return _tmp;
-    };
-
-protected:
-    uint16_t                _map_speed(uint16_t speed_hz) {
-        return 2000000UL / speed_hz;
-    }
-    static volatile uint32_t         _last_update; // Modified by interrupt
-
-};
-
-
-
-#include "APM_RC_APM1.h"
-#include "APM_RC_APM2.h"
-
-
-#endif
-
diff --git a/libraries/APM_RC/APM_RC_APM1.cpp b/libraries/APM_RC/APM_RC_APM1.cpp
deleted file mode 100644
index 7f648e50f6..0000000000
--- a/libraries/APM_RC/APM_RC_APM1.cpp
+++ /dev/null
@@ -1,336 +0,0 @@
-/*
- *       APM_RC_APM1.cpp - Radio Control Library for Ardupilot Mega. Arduino
- *       Code by Jordi Muñoz and Jose Julio. DIYDrones.com
- *
- *       This library is free software; you can redistribute it and/or
- *   modify it under the terms of the GNU Lesser General Public
- *   License as published by the Free Software Foundation; either
- *   version 2.1 of the License, or (at your option) any later version.
- *
- *       RC Input : PPM signal on IC4 pin
- *       RC Output : 11 Servo outputs (standard 20ms frame)
- *
- *       Methods:
- *               Init() : Initialization of interrupts an Timers
- *               OutpuCh(ch,pwm) : Output value to servos (range : 900-2100us) ch=0..10
- *               InputCh(ch) : Read a channel input value.  ch=0..7
- *               GetState() : Returns the state of the input. 1 => New radio frame to process
- *                            Automatically resets when we call InputCh to read channels
- *
- */
-#include "APM_RC_APM1.h"
-
-#include <avr/interrupt.h>
-#if defined(ARDUINO) && ARDUINO >= 100
- #include "Arduino.h"
-#else
- #include "WProgram.h"
-#endif
-
-#if !defined(__AVR_ATmega1280__) && !defined(__AVR_ATmega2560__) && !defined(DESKTOP_BUILD)
- # error Please check the Tools/Board menu to ensure you have selected Arduino Mega as your target.
-#else
-
-// Variable definition for Input Capture interrupt
-volatile uint16_t APM_RC_APM1::_PWM_RAW[NUM_CHANNELS] = {2400,2400,2400,2400,2400,2400,2400,2400};
-volatile uint8_t APM_RC_APM1::_radio_status=0;
-
-/****************************************************
-*   Input Capture Interrupt ICP4 => PPM signal read
-****************************************************/
-void APM_RC_APM1::_timer4_capt_cb(void)
-{
-    static uint16_t ICR4_old;
-    static uint8_t PPM_Counter=0;
-
-    uint16_t Pulse;
-    uint16_t Pulse_Width;
-
-    Pulse=ICR4;
-    if (Pulse<ICR4_old) {                     // Take care of the overflow of Timer4 (TOP=40000)
-        Pulse_Width=(Pulse + 40000)-ICR4_old; // Calculating pulse
-    }
-    else {
-        Pulse_Width=Pulse-ICR4_old;           // Calculating pulse
-    }
-
-    if (Pulse_Width>8000) {                   // SYNC pulse?
-        // pass through values if at least a minimum number of channels received
-        if( PPM_Counter >= MIN_CHANNELS ) {
-            _radio_status = 1;
-            _last_update = millis();
-        }
-        PPM_Counter=0;
-    }
-    else {
-        if (PPM_Counter < NUM_CHANNELS) {     // Valid pulse channel?
-            _PWM_RAW[PPM_Counter++]=Pulse_Width;   // Saving pulse.
-        }
-    }
-    ICR4_old = Pulse;
-}
-
-
-// Constructors ////////////////////////////////////////////////////////////////
-
-APM_RC_APM1::APM_RC_APM1()
-{
-}
-
-// Public Methods //////////////////////////////////////////////////////////////
-void APM_RC_APM1::Init( Arduino_Mega_ISR_Registry * isr_reg )
-{
-
-    isr_reg->register_signal(ISR_REGISTRY_TIMER4_CAPT, _timer4_capt_cb );
-
-    // Init PWM Timer 1
-    pinMode(11,OUTPUT); //OUT9 (PB5/OC1A)
-    pinMode(12,OUTPUT); //OUT2 (PB6/OC1B)
-    pinMode(13,OUTPUT); //OUT3 (PB7/OC1C)
-
-    //Remember the registers not declared here remains zero by default...
-    TCCR1A =((1<<WGM11)); //Please read page 131 of DataSheet, we are changing the registers settings of WGM11,COM1B1,COM1A1 to 1 thats all...
-    TCCR1B = (1<<WGM13)|(1<<WGM12)|(1<<CS11); //Prescaler set to 8, that give us a resolution of 0.5us, read page 134 of data sheet
-    OCR1A = 0xFFFF; // Init ODR registers to nil output signal
-    OCR1B = 0xFFFF;
-    OCR1C = 0xFFFF;
-    ICR1 = 40000; //50hz freq...Datasheet says  (system_freq/prescaler)/target frequency. So (16000000hz/8)/50hz=40000,
-
-    // Init PWM Timer 3
-    pinMode(2,OUTPUT); //OUT7 (PE4/OC3B)
-    pinMode(3,OUTPUT); //OUT6 (PE5/OC3C)
-    pinMode(5,OUTPUT); //OUT10(PE3/OC3A)
-    TCCR3A =((1<<WGM31));
-    TCCR3B = (1<<WGM33)|(1<<WGM32)|(1<<CS31);
-    OCR3A = 0xFFFF; // Init ODR registers to nil output signal
-    OCR3B = 0xFFFF;
-    OCR3C = 0xFFFF;
-    ICR3 = 40000; //50hz freq
-
-    // Init PWM Timer 5
-    pinMode(44,OUTPUT); //OUT1 (PL5/OC5C)
-    pinMode(45,OUTPUT); //OUT0 (PL4/OC5B)
-    pinMode(46,OUTPUT); //OUT8 (PL3/OC5A)
-
-    TCCR5A =((1<<WGM51));
-    TCCR5B = (1<<WGM53)|(1<<WGM52)|(1<<CS51);
-    OCR5A = 0xFFFF; // Init ODR registers to nil output signal
-    OCR5B = 0xFFFF;
-    OCR5C = 0xFFFF;
-    ICR5 = 40000; //50hz freq
-
-    // Init PPM input and PWM Timer 4
-    pinMode(49, INPUT); // ICP4 pin (PL0) (PPM input)
-    pinMode(7,OUTPUT); //OUT5 (PH4/OC4B)
-    pinMode(8,OUTPUT); //OUT4 (PH5/OC4C)
-
-    TCCR4A =((1<<WGM40)|(1<<WGM41));
-    //Prescaler set to 8, that give us a resolution of 0.5us
-    // Input Capture rising edge
-    TCCR4B = ((1<<WGM43)|(1<<WGM42)|(1<<CS41)|(1<<ICES4));
-    OCR4B = 0xFFFF; // Init OCR registers to nil output signal
-    OCR4C = 0xFFFF;
-    OCR4A = 40000; ///50hz freq.
-
-    //TCCR4B |=(1<<ICES4); //Changing edge detector (rising edge).
-    //TCCR4B &=(~(1<<ICES4)); //Changing edge detector. (falling edge)
-    TIMSK4 |= (1<<ICIE4); // Enable Input Capture interrupt. Timer interrupt mask
-}
-
-void APM_RC_APM1::OutputCh(uint8_t ch, uint16_t pwm)
-{
-    pwm=constrain(pwm,MIN_PULSEWIDTH,MAX_PULSEWIDTH);
-    pwm<<=1; // pwm*2;
-
-    switch(ch)
-    {
-    case 0:  OCR5B=pwm; break;  //ch1
-    case 1:  OCR5C=pwm; break;  //ch2
-    case 2:  OCR1B=pwm; break;  //ch3
-    case 3:  OCR1C=pwm; break;  //ch4
-    case 4:  OCR4C=pwm; break;  //ch5
-    case 5:  OCR4B=pwm; break;  //ch6
-    case 6:  OCR3C=pwm; break;  //ch7
-    case 7:  OCR3B=pwm; break;  //ch8
-    case 8:  OCR5A=pwm; break;  //ch9,  PL3
-    case 9:  OCR1A=pwm; break;  //ch10, PB5
-    case 10: OCR3A=pwm; break;  //ch11, PE3
-    }
-}
-
-uint16_t APM_RC_APM1::OutputCh_current(uint8_t ch)
-{
-    uint16_t pwm=0;
-    switch(ch) {
-    case 0:  pwm=OCR5B; break;      //ch1
-    case 1:  pwm=OCR5C; break;      //ch2
-    case 2:  pwm=OCR1B; break;      //ch3
-    case 3:  pwm=OCR1C; break;      //ch4
-    case 4:  pwm=OCR4C; break;      //ch5
-    case 5:  pwm=OCR4B; break;      //ch6
-    case 6:  pwm=OCR3C; break;      //ch7
-    case 7:  pwm=OCR3B; break;      //ch8
-    case 8:  pwm=OCR5A; break;      //ch9,  PL3
-    case 9:  pwm=OCR1A; break;      //ch10, PB5
-    case 10: pwm=OCR3A; break;      //ch11, PE3
-    }
-    return pwm>>1;
-}
-
-void APM_RC_APM1::enable_out(uint8_t ch)
-{
-    switch(ch) {
-    case 0:  TCCR5A |= (1<<COM5B1); break;  // CH_1 : OC5B
-    case 1:  TCCR5A |= (1<<COM5C1); break;  // CH_2 : OC5C
-    case 2:  TCCR1A |= (1<<COM1B1); break;  // CH_3 : OC1B
-    case 3:  TCCR1A |= (1<<COM1C1); break;  // CH_4 : OC1C
-    case 4:  TCCR4A |= (1<<COM4C1); break;  // CH_5 : OC4C
-    case 5:  TCCR4A |= (1<<COM4B1); break;  // CH_6 : OC4B
-    case 6:  TCCR3A |= (1<<COM3C1); break;  // CH_7 : OC3C
-    case 7:  TCCR3A |= (1<<COM3B1); break;  // CH_8 : OC3B
-    case 8:  TCCR5A |= (1<<COM5A1); break;  // CH_9 : OC5A
-    case 9:  TCCR1A |= (1<<COM1A1); break;  // CH_10: OC1A
-    case 10: TCCR3A |= (1<<COM3A1); break;  // CH_11: OC3A
-    }
-}
-
-void APM_RC_APM1::disable_out(uint8_t ch)
-{
-    switch(ch) {
-    case 0:  TCCR5A &= ~(1<<COM5B1); break;  // CH_1 : OC5B
-    case 1:  TCCR5A &= ~(1<<COM5C1); break;  // CH_2 : OC5C
-    case 2:  TCCR1A &= ~(1<<COM1B1); break;  // CH_3 : OC1B
-    case 3:  TCCR1A &= ~(1<<COM1C1); break;  // CH_4 : OC1C
-    case 4:  TCCR4A &= ~(1<<COM4C1); break;  // CH_5 : OC4C
-    case 5:  TCCR4A &= ~(1<<COM4B1); break;  // CH_6 : OC4B
-    case 6:  TCCR3A &= ~(1<<COM3C1); break;  // CH_7 : OC3C
-    case 7:  TCCR3A &= ~(1<<COM3B1); break;  // CH_8 : OC3B
-    case 8:  TCCR5A &= ~(1<<COM5A1); break;  // CH_9 : OC5A
-    case 9:  TCCR1A &= ~(1<<COM1A1); break;  // CH_10: OC1A
-    case 10: TCCR3A &= ~(1<<COM3A1); break;  // CH_11: OC3A
-    }
-}
-
-uint16_t APM_RC_APM1::InputCh(uint8_t ch)
-{
-    uint16_t result;
-
-    if (_HIL_override[ch] != 0) {
-        return _HIL_override[ch];
-    }
-
-    // We need to block ICP4 interrupts during the read of 16 bit PWM values
-    uint8_t _timsk4 = TIMSK4;
-    TIMSK4 &= ~(1<<ICIE4);
-
-    // value
-    result = _PWM_RAW[ch];
-
-   // Enable ICP4 interrupt if previously active
-    TIMSK4 = _timsk4;
-
-    // Because timer runs at 0.5us we need to do value/2
-    result >>= 1;
-
-    // Limit values to a valid range
-    result = constrain(result,MIN_PULSEWIDTH,MAX_PULSEWIDTH);
-    _radio_status = 0;     // Radio channel read
-    return result;
-}
-
-uint8_t APM_RC_APM1::GetState(void)
-{
-    return(_radio_status);
-}
-
-
-// InstantPWM implementation
-void APM_RC_APM1::Force_Out(void)
-{
-    Force_Out0_Out1();
-    Force_Out2_Out3();
-    Force_Out6_Out7();
-}
-// This function forces the PWM output (reset PWM) on Out0 and Out1 (Timer5). For quadcopters use
-void APM_RC_APM1::Force_Out0_Out1(void)
-{
-    if (TCNT5>5000) // We take care that there are not a pulse in the output
-        TCNT5=39990;  // This forces the PWM output to reset in 5us (10 counts of 0.5us). The counter resets at 40000
-}
-// This function forces the PWM output (reset PWM) on Out2 and Out3 (Timer1). For quadcopters use
-void APM_RC_APM1::Force_Out2_Out3(void)
-{
-    if (TCNT1>5000)
-        TCNT1=39990;
-}
-// This function forces the PWM output (reset PWM) on Out6 and Out7 (Timer3). For quadcopters use
-void APM_RC_APM1::Force_Out6_Out7(void)
-{
-    if (TCNT3>5000)
-        TCNT3=39990;
-}
-
-/* --------------------- OUTPUT SPEED CONTROL --------------------- */
-
-void APM_RC_APM1::SetFastOutputChannels(uint32_t chmask, uint16_t speed_hz)
-{
-    uint16_t icr = _map_speed(speed_hz);
-
-    if ((chmask & ( _BV(CH_1) | _BV(CH_2) | _BV(CH_9))) != 0) {
-        ICR5 = icr;
-    }
-
-    if ((chmask & ( _BV(CH_3) | _BV(CH_4) | _BV(CH_10))) != 0) {
-        ICR1 = icr;
-    }
-
- #if 0
-    if ((chmask & ( _BV(CH_5) | _BV(CH_6))) != 0) {
-        /* These channels intentionally left blank:
-         * Can't change output speed of ch5 (OCR4B) and ch6 (OCR4C).
-         * Timer 4 period controlled by OCR4A, and used for input
-         * capture on ICR4.
-         * If the period of Timer 4 must be changed, the input capture
-         * code will have to be adjusted as well
-         */
-    }
- #endif
-
-    if ((chmask & ( _BV(CH_7) | _BV(CH_8) | _BV(CH_11))) != 0) {
-        ICR3 = icr;
-    }
-
-}
-
-// allow HIL override of RC values
-// A value of -1 means no change
-// A value of 0 means no override, use the real RC values
-bool APM_RC_APM1::setHIL(int16_t v[NUM_CHANNELS])
-{
-    uint8_t sum = 0;
-    for (uint8_t i=0; i<NUM_CHANNELS; i++) {
-        if (v[i] != -1) {
-            _HIL_override[i] = v[i];
-        }
-        if (_HIL_override[i] != 0) {
-            sum++;
-        }
-    }
-    _radio_status = 1;
-    _last_update = millis();
-    if (sum == 0) {
-        return 0;
-    } else {
-        return 1;
-    }
-}
-
-void APM_RC_APM1::clearOverride(void)
-{
-    for (uint8_t i=0; i<NUM_CHANNELS; i++) {
-        _HIL_override[i] = 0;
-    }
-}
-
-
-#endif // defined(ATMega1280)
diff --git a/libraries/APM_RC/APM_RC_APM1.h b/libraries/APM_RC/APM_RC_APM1.h
deleted file mode 100644
index 1e76cecf01..0000000000
--- a/libraries/APM_RC/APM_RC_APM1.h
+++ /dev/null
@@ -1,41 +0,0 @@
-#ifndef __APM_RC_APM1_H__
-#define __APM_RC_APM1_H__
-
-#define MIN_PULSEWIDTH 900
-#define MAX_PULSEWIDTH 2100
-
-#include "APM_RC.h"
-#include "../Arduino_Mega_ISR_Registry/Arduino_Mega_ISR_Registry.h"
-
-class APM_RC_APM1 : public APM_RC_Class
-{
-public:
-    APM_RC_APM1();
-    void            Init( Arduino_Mega_ISR_Registry * isr_reg );
-    void            OutputCh(uint8_t ch, uint16_t pwm);
-    uint16_t        OutputCh_current(uint8_t ch);
-    uint16_t        InputCh(uint8_t ch);
-    uint8_t         GetState();
-    bool            setHIL(int16_t v[NUM_CHANNELS]);
-    void            clearOverride(void);
-    void            Force_Out(void);
-    void            SetFastOutputChannels(uint32_t chmask, uint16_t speed_hz = 400);
-
-    void            enable_out(uint8_t);
-    void            disable_out(uint8_t);
-
-    void            Force_Out0_Out1(void);
-    void            Force_Out2_Out3(void);
-    void            Force_Out6_Out7(void);
-
-private:
-
-    static void                     _timer4_capt_cb(void);
-
-    static volatile uint16_t        _PWM_RAW[NUM_CHANNELS];
-    static volatile uint8_t         _radio_status;
-
-    int16_t                         _HIL_override[NUM_CHANNELS];
-};
-
-#endif
diff --git a/libraries/APM_RC/APM_RC_APM2.cpp b/libraries/APM_RC/APM_RC_APM2.cpp
deleted file mode 100644
index aa6847fa96..0000000000
--- a/libraries/APM_RC/APM_RC_APM2.cpp
+++ /dev/null
@@ -1,328 +0,0 @@
-/*
- *       APM_RC_APM2.cpp - Radio Control Library for Ardupilot Mega 2.0. Arduino
- *       Code by Jordi Muñoz and Jose Julio. DIYDrones.com
- *
- *       This library is free software; you can redistribute it and/or
- *   modify it under the terms of the GNU Lesser General Public
- *   License as published by the Free Software Foundation; either
- *   version 2.1 of the License, or (at your option) any later version.
- *
- *       RC Input : PPM signal on IC4 pin
- *       RC Output : 11 Servo outputs (standard 20ms frame)
- *
- *       Methods:
- *               Init() : Initialization of interrupts an Timers
- *               OutpuCh(ch,pwm) : Output value to servos (range : 900-2100us) ch=0..10
- *               InputCh(ch) : Read a channel input value.  ch=0..7
- *               GetState() : Returns the state of the input. 1 => New radio frame to process
- *                            Automatically resets when we call InputCh to read channels
- *
- */
-#include "APM_RC_APM2.h"
-
-#include <avr/interrupt.h>
-#if defined(ARDUINO) && ARDUINO >= 100
- #include "Arduino.h"
-#else
- #include "WProgram.h"
-#endif
-
-#if !defined(__AVR_ATmega1280__) && !defined(__AVR_ATmega2560__) && !defined(DESKTOP_BUILD)
- # error Please check the Tools/Board menu to ensure you have selected Arduino Mega as your target.
-#else
-
-// Variable definition for Input Capture interrupt
-volatile uint16_t APM_RC_APM2::_PWM_RAW[NUM_CHANNELS] = {2400,2400,2400,2400,2400,2400,2400,2400};
-volatile uint8_t APM_RC_APM2::_radio_status=0;
-
-/****************************************************
-*   Input Capture Interrupt ICP5 => PPM signal read
-****************************************************/
-void APM_RC_APM2::_timer5_capt_cb(void)
-{
-    static uint16_t prev_icr;
-    static uint8_t frame_idx;
-    uint16_t icr;
-    uint16_t pwidth;
-
-    icr = ICR5;
-    // Calculate pulse width assuming timer overflow TOP = 40000
-    if ( icr < prev_icr ) {
-        pwidth = ( icr + 40000 ) - prev_icr;
-    } else {
-        pwidth = icr - prev_icr;
-    }
-
-    // Was it a sync pulse? If so, reset frame.
-    if ( pwidth > 8000 ) {
-        // pass through values if at least a minimum number of channels received
-        if( frame_idx >= MIN_CHANNELS ) {
-            _radio_status = 1;
-            _last_update = millis();
-        }
-        frame_idx=0;
-    } else {
-        // Save pulse into _PWM_RAW array.
-        if ( frame_idx < NUM_CHANNELS ) {
-            _PWM_RAW[ frame_idx++ ] = pwidth;
-        }
-    }
-    // Save icr for next call.
-    prev_icr = icr;
-}
-
-
-// Constructors ////////////////////////////////////////////////////////////////
-
-APM_RC_APM2::APM_RC_APM2()
-{
-}
-
-// Public Methods //////////////////////////////////////////////////////////////
-void APM_RC_APM2::Init( Arduino_Mega_ISR_Registry * isr_reg )
-{
-    // --------------------- TIMER1: OUT1 and OUT2 -----------------------
-    digitalWrite(12,HIGH);  // pulling high before changing to output avoids a momentary drop of the pin to low because the ESCs have a pull-down resistor it seems
-    digitalWrite(11,HIGH);
-    pinMode(12,OUTPUT); // OUT1 (PB6/OC1B)
-    pinMode(11,OUTPUT); // OUT2 (PB5/OC1A)
-    digitalWrite(12,HIGH);  // pulling high before changing to output avoids a momentary drop of the pin to low because the ESCs have a pull-down resistor it seems
-    digitalWrite(11,HIGH);
-
-    // WGM: 1 1 1 0. Clear Timer on Compare, TOP is ICR1.
-    // CS11: prescale by 8 => 0.5us tick
-    TCCR1A =((1<<WGM11));
-    TCCR1B = (1<<WGM13)|(1<<WGM12)|(1<<CS11);
-    ICR1 = 40000; // 0.5us tick => 50hz freq
-    OCR1A = 0xFFFF; // Init OCR registers to nil output signal
-    OCR1B = 0xFFFF;
-
-    // --------------- TIMER4: OUT3, OUT4, and OUT5 ---------------------
-    digitalWrite(8,HIGH);
-    digitalWrite(7,HIGH);
-    digitalWrite(6,HIGH);
-    pinMode(8,OUTPUT); // OUT3 (PH5/OC4C)
-    pinMode(7,OUTPUT); // OUT4 (PH4/OC4B)
-    pinMode(6,OUTPUT); // OUT5 (PH3/OC4A)
-    digitalWrite(8,HIGH);
-    digitalWrite(7,HIGH);
-    digitalWrite(6,HIGH);
-
-    // WGM: 1 1 1 0. Clear Timer on Compare, TOP is ICR4.
-    // CS41: prescale by 8 => 0.5us tick
-    TCCR4A =((1<<WGM41));
-    TCCR4B = (1<<WGM43)|(1<<WGM42)|(1<<CS41);
-    OCR4A = 0xFFFF; // Init OCR registers to nil output signal
-    OCR4B = 0xFFFF;
-    OCR4C = 0xFFFF;
-    ICR4 = 40000; // 0.5us tick => 50hz freq
-
-    //--------------- TIMER3: OUT6, OUT7, and OUT8 ----------------------
-    digitalWrite(3,HIGH);
-    digitalWrite(2,HIGH);
-    digitalWrite(5,HIGH);
-    pinMode(3,OUTPUT); // OUT6 (PE5/OC3C)
-    pinMode(2,OUTPUT); // OUT7 (PE4/OC3B)
-    pinMode(5,OUTPUT); // OUT8 (PE3/OC3A)
-    digitalWrite(3,HIGH);
-    digitalWrite(2,HIGH);
-    digitalWrite(5,HIGH);
-
-    // WGM: 1 1 1 0. Clear timer on Compare, TOP is ICR3
-    // CS31: prescale by 8 => 0.5us tick
-    TCCR3A =((1<<WGM31));
-    TCCR3B = (1<<WGM33)|(1<<WGM32)|(1<<CS31);
-    OCR3A = 0xFFFF; // Init OCR registers to nil output signal
-    OCR3B = 0xFFFF;
-    OCR3C = 0xFFFF;
-    ICR3 = 40000; // 0.5us tick => 50hz freq
-
-    //--------------- TIMER5: PPM INPUT, OUT10, and OUT11 ---------------
-    // Init PPM input on Timer 5
-    pinMode(48, INPUT); // PPM Input (PL1/ICP5)
-
-    digitalWrite(45,HIGH);
-    digitalWrite(44,HIGH);
-    pinMode(45, OUTPUT); // OUT10 (PL4/OC5B)
-    pinMode(44, OUTPUT); // OUT11 (PL5/OC5C)
-    digitalWrite(45,HIGH);
-    digitalWrite(44,HIGH);
-
-    // WGM: 1 1 1 1. Fast PWM, TOP is OCR5A
-    // COM all disabled.
-    // CS51: prescale by 8 => 0.5us tick
-    // ICES5: Input Capture on rising edge
-    TCCR5A =((1<<WGM50)|(1<<WGM51));
-    // Input Capture rising edge
-    TCCR5B = ((1<<WGM53)|(1<<WGM52)|(1<<CS51)|(1<<ICES5));
-    OCR5A = 40000; // 0.5us tick => 50hz freq. The input capture routine
-                   // assumes this 40000 for TOP.
-
-    isr_reg->register_signal( ISR_REGISTRY_TIMER5_CAPT, _timer5_capt_cb );
-    // Enable Input Capture interrupt
-    TIMSK5 |= (1<<ICIE5);
-}
-
-void APM_RC_APM2::OutputCh(unsigned char ch, uint16_t pwm)
-{
-    pwm=constrain(pwm,MIN_PULSEWIDTH,MAX_PULSEWIDTH);
-    pwm<<=1; // pwm*2;
-
-    switch(ch)
-    {
-    case 0:  OCR1B=pwm; break;  // out1
-    case 1:  OCR1A=pwm; break;  // out2
-    case 2:  OCR4C=pwm; break;  // out3
-    case 3:  OCR4B=pwm; break;  // out4
-    case 4:  OCR4A=pwm; break;  // out5
-    case 5:  OCR3C=pwm; break;  // out6
-    case 6:  OCR3B=pwm; break;  // out7
-    case 7:  OCR3A=pwm; break;  // out8
-    case 9:  OCR5B=pwm; break;  // out10
-    case 10: OCR5C=pwm; break;  // out11
-    }
-}
-
-uint16_t APM_RC_APM2::OutputCh_current(uint8_t ch)
-{
-    uint16_t pwm=0;
-    switch(ch) {
-    case 0:  pwm=OCR1B; break;      // out1
-    case 1:  pwm=OCR1A; break;      // out2
-    case 2:  pwm=OCR4C; break;      // out3
-    case 3:  pwm=OCR4B; break;      // out4
-    case 4:  pwm=OCR4A; break;      // out5
-    case 5:  pwm=OCR3C; break;      // out6
-    case 6:  pwm=OCR3B; break;      // out7
-    case 7:  pwm=OCR3A; break;      // out8
-    case 9:  pwm=OCR5B; break;      // out10
-    case 10: pwm=OCR5C; break;      // out11
-    }
-    return pwm>>1;
-}
-
-void APM_RC_APM2::enable_out(uint8_t ch)
-{
-    switch(ch) {
-    case 0: TCCR1A |= (1<<COM1B1); break; // CH_1 : OC1B
-    case 1: TCCR1A |= (1<<COM1A1); break; // CH_2 : OC1A
-    case 2: TCCR4A |= (1<<COM4C1); break; // CH_3 : OC4C
-    case 3: TCCR4A |= (1<<COM4B1); break; // CH_4 : OC4B
-    case 4: TCCR4A |= (1<<COM4A1); break; // CH_5 : OC4A
-    case 5: TCCR3A |= (1<<COM3C1); break; // CH_6 : OC3C
-    case 6: TCCR3A |= (1<<COM3B1); break; // CH_7 : OC3B
-    case 7: TCCR3A |= (1<<COM3A1); break; // CH_8 : OC3A
-    case 9: TCCR5A |= (1<<COM5B1); break; // CH_10 : OC5B
-    case 10: TCCR5A |= (1<<COM5C1); break; // CH_11 : OC5C
-    }
-}
-
-void APM_RC_APM2::disable_out(uint8_t ch)
-{
-    switch(ch) {
-    case 0: TCCR1A &= ~(1<<COM1B1); break; // CH_1 : OC1B
-    case 1: TCCR1A &= ~(1<<COM1A1); break; // CH_2 : OC1A
-    case 2: TCCR4A &= ~(1<<COM4C1); break; // CH_3 : OC4C
-    case 3: TCCR4A &= ~(1<<COM4B1); break; // CH_4 : OC4B
-    case 4: TCCR4A &= ~(1<<COM4A1); break; // CH_5 : OC4A
-    case 5: TCCR3A &= ~(1<<COM3C1); break; // CH_6 : OC3C
-    case 6: TCCR3A &= ~(1<<COM3B1); break; // CH_7 : OC3B
-    case 7: TCCR3A &= ~(1<<COM3A1); break; // CH_8 : OC3A
-    case 9: TCCR5A &= ~(1<<COM5B1); break; // CH_10 : OC5B
-    case 10: TCCR5A &= ~(1<<COM5C1); break; // CH_11 : OC5C
-    }
-}
-
-uint16_t APM_RC_APM2::InputCh(unsigned char ch)
-{
-    uint16_t result;
-
-    if (_HIL_override[ch] != 0) {
-        return _HIL_override[ch];
-    }
-
-    // We need to block ICP5 interrupts during the read of 16 bit PWM values
-    uint8_t _timsk5 = TIMSK5;
-    TIMSK5 &= ~(1<<ICIE5);
-
-    // value
-    result = _PWM_RAW[ch];
-
-    // Enable ICP5 interrupt if previously active
-    TIMSK5 = _timsk5;
-    
-    // Because timer runs at 0.5us we need to do value/2
-    result >>= 1;
-
-    // Limit values to a valid range
-    result = constrain(result,MIN_PULSEWIDTH,MAX_PULSEWIDTH);
-    _radio_status = 0;     // Radio channel read
-    return result;
-}
-
-unsigned char APM_RC_APM2::GetState(void)
-{
-    return(_radio_status);
-}
-
-// InstantPWM is not implemented!
-
-void APM_RC_APM2::Force_Out(void) {
-}
-void APM_RC_APM2::Force_Out0_Out1(void) {
-}
-void APM_RC_APM2::Force_Out2_Out3(void) {
-}
-void APM_RC_APM2::Force_Out6_Out7(void) {
-}
-
-/* ---------------- OUTPUT SPEED CONTROL ------------------ */
-
-void APM_RC_APM2::SetFastOutputChannels(uint32_t chmask, uint16_t speed_hz)
-{
-    uint16_t icr = _map_speed(speed_hz);
-
-    if ((chmask & ( _BV(CH_1) | _BV(CH_2))) != 0) {
-        ICR1 = icr;
-    }
-
-    if ((chmask & ( _BV(CH_3) | _BV(CH_4) | _BV(CH_5))) != 0) {
-        ICR4 = icr;
-    }
-
-    if ((chmask & ( _BV(CH_6) | _BV(CH_7) | _BV(CH_8))) != 0) {
-        ICR3 = icr;
-    }
-}
-
-// allow HIL override of RC values
-// A value of -1 means no change
-// A value of 0 means no override, use the real RC values
-bool APM_RC_APM2::setHIL(int16_t v[NUM_CHANNELS])
-{
-    uint8_t sum = 0;
-    for (unsigned char i=0; i<NUM_CHANNELS; i++) {
-        if (v[i] != -1) {
-            _HIL_override[i] = v[i];
-        }
-        if (_HIL_override[i] != 0) {
-            sum++;
-        }
-    }
-    _radio_status = 1;
-    _last_update = millis();
-    if (sum == 0) {
-        return 0;
-    } else {
-        return 1;
-    }
-}
-
-void APM_RC_APM2::clearOverride(void)
-{
-    for (unsigned char i=0; i<NUM_CHANNELS; i++) {
-        _HIL_override[i] = 0;
-    }
-}
-
-#endif
diff --git a/libraries/APM_RC/APM_RC_APM2.h b/libraries/APM_RC/APM_RC_APM2.h
deleted file mode 100644
index 2cb5b8b977..0000000000
--- a/libraries/APM_RC/APM_RC_APM2.h
+++ /dev/null
@@ -1,42 +0,0 @@
-#ifndef __APM_RC_APM2_H__
-#define __APM_RC_APM2_H__
-
-#define NUM_CHANNELS 8
-#define MIN_PULSEWIDTH 900
-#define MAX_PULSEWIDTH 2100
-
-#include "APM_RC.h"
-#include "../Arduino_Mega_ISR_Registry/Arduino_Mega_ISR_Registry.h"
-
-class APM_RC_APM2 : public APM_RC_Class
-{
-private:
-public:
-    APM_RC_APM2();
-    void                    Init( Arduino_Mega_ISR_Registry * isr_reg );
-    void                    OutputCh(uint8_t ch, uint16_t pwm);
-    uint16_t                OutputCh_current(uint8_t ch);
-    uint16_t                InputCh(unsigned char ch);
-    unsigned char           GetState();
-    bool                    setHIL(int16_t v[NUM_CHANNELS]);
-    void                    clearOverride(void);
-    void                    Force_Out(void);
-    void                    SetFastOutputChannels(uint32_t chmask, uint16_t speed_hz = 400);
-
-    void                    enable_out(uint8_t);
-    void                    disable_out(uint8_t);
-
-    void                    Force_Out0_Out1(void);
-    void                    Force_Out2_Out3(void);
-    void                    Force_Out6_Out7(void);
-
-private:
-
-    static void                     _timer5_capt_cb(void);
-    static volatile uint16_t        _PWM_RAW[NUM_CHANNELS];
-    static volatile uint8_t         _radio_status;
-    int16_t                         _HIL_override[NUM_CHANNELS];
-};
-
-
-#endif
diff --git a/libraries/APM_RC/examples/APM1_radio/APM1_radio.pde b/libraries/APM_RC/examples/APM1_radio/APM1_radio.pde
deleted file mode 100644
index 1bf2c27bc8..0000000000
--- a/libraries/APM_RC/examples/APM1_radio/APM1_radio.pde
+++ /dev/null
@@ -1,48 +0,0 @@
-/*
- *       Example of APM_RC library.
- *       Code by Jordi MuÃ’oz and Jose Julio. DIYDrones.com
- *
- *       Print Input values and send Output to the servos
- *       (Works with last PPM_encoder firmware)
- */
-
-#include <FastSerial.h>
-#include <Arduino_Mega_ISR_Registry.h>
-#include <APM_RC.h> // ArduPilot Mega RC Library
-
-FastSerialPort0(Serial);
-
-Arduino_Mega_ISR_Registry isr_registry;
-APM_RC_APM1 APM_RC;
-
-void setup()
-{
-    isr_registry.init();
-    APM_RC.Init(&isr_registry);          // APM Radio initialization
-    APM_RC.enable_out(CH_1);
-    APM_RC.enable_out(CH_2);
-    APM_RC.enable_out(CH_3);
-    APM_RC.enable_out(CH_4);
-    APM_RC.enable_out(CH_5);
-    APM_RC.enable_out(CH_6);
-    APM_RC.enable_out(CH_7);
-    APM_RC.enable_out(CH_8);
-
-    Serial.begin(115200);
-    Serial.println("ArduPilot Mega RC library test");
-    delay(1000);
-}
-
-void loop()
-{
-    // New radio frame? (we could use also if((millis()- timer) > 20)
-    if (APM_RC.GetState() == 1) {
-        Serial.print("CH:");
-        for(int i = 0; i < 8; i++) {
-            Serial.print(APM_RC.InputCh(i));                    // Print channel values
-            Serial.print(",");
-            APM_RC.OutputCh(i, APM_RC.InputCh(i));             // Copy input to Servos
-        }
-        Serial.println();
-    }
-}
diff --git a/libraries/APM_RC/examples/APM1_radio/Makefile b/libraries/APM_RC/examples/APM1_radio/Makefile
deleted file mode 100644
index a5d5e7918b..0000000000
--- a/libraries/APM_RC/examples/APM1_radio/Makefile
+++ /dev/null
@@ -1,2 +0,0 @@
-BOARD	=	mega2560
-include ../../../AP_Common/Arduino.mk
diff --git a/libraries/APM_RC/examples/APM2_radio/APM2_radio.pde b/libraries/APM_RC/examples/APM2_radio/APM2_radio.pde
deleted file mode 100644
index debdbb3019..0000000000
--- a/libraries/APM_RC/examples/APM2_radio/APM2_radio.pde
+++ /dev/null
@@ -1,46 +0,0 @@
-/*
- *       Example of APM_RC library.
- *       Code by Jordi MuÃ’oz and Jose Julio. DIYDrones.com
- *
- *       Print Input values and send Output to the servos
- *       (Works with last PPM_encoder firmware)
- */
-
-#include <Arduino_Mega_ISR_Registry.h>
-#include <APM_RC.h> // ArduPilot Mega RC Library
-
-Arduino_Mega_ISR_Registry isr_registry;
-APM_RC_APM2 APM_RC;
-
-void setup()
-{
-    isr_registry.init();
-    APM_RC.Init(&isr_registry);          // APM Radio initialization
-
-    APM_RC.enable_out(CH_1);
-    APM_RC.enable_out(CH_2);
-    APM_RC.enable_out(CH_3);
-    APM_RC.enable_out(CH_4);
-    APM_RC.enable_out(CH_5);
-    APM_RC.enable_out(CH_6);
-    APM_RC.enable_out(CH_7);
-    APM_RC.enable_out(CH_8);
-
-    Serial.begin(115200);
-    Serial.println("ArduPilot Mega RC library test");
-    delay(1000);
-}
-
-void loop()
-{
-    // New radio frame? (we could use also if((millis()- timer) > 20)
-    if (APM_RC.GetState() == 1) {
-        Serial.print("CH:");
-        for(int i = 0; i < 8; i++) {
-            Serial.print(APM_RC.InputCh(i));                    // Print channel values
-            Serial.print(",");
-            APM_RC.OutputCh(i, APM_RC.InputCh(i));             // Copy input to Servos
-        }
-        Serial.println();
-    }
-}
diff --git a/libraries/APM_RC/examples/APM2_radio/Makefile b/libraries/APM_RC/examples/APM2_radio/Makefile
deleted file mode 100644
index a5d5e7918b..0000000000
--- a/libraries/APM_RC/examples/APM2_radio/Makefile
+++ /dev/null
@@ -1,2 +0,0 @@
-BOARD	=	mega2560
-include ../../../AP_Common/Arduino.mk
diff --git a/libraries/APM_RC/examples/ISR_Mask/ISR_Mask.pde b/libraries/APM_RC/examples/ISR_Mask/ISR_Mask.pde
deleted file mode 100644
index 02bf8a6ee7..0000000000
--- a/libraries/APM_RC/examples/ISR_Mask/ISR_Mask.pde
+++ /dev/null
@@ -1,63 +0,0 @@
-/*
-  test interrupt masking methods on APM1
- */
-
-#include <FastSerial.h>
-#include <AP_Common.h>
-#include <AP_Math.h>
-#include <Arduino_Mega_ISR_Registry.h>
-#include <APM_RC.h>
-
-FastSerialPort0(Serial);
-
-Arduino_Mega_ISR_Registry isr_registry;
-APM_RC_APM1 APM_RC;
-
-void setup()
-{
-    Serial.begin(115200);
-    isr_registry.init();
-    APM_RC.Init(&isr_registry);
-    Serial.println("Interrupt masking test");
-    delay(10);
-}
-
-static uint16_t last_values[8];
-
-#define USE_CLI  0
-#define USE_MASK 1
-
-void loop()
-{
-	if (APM_RC.GetState() == 1) {
-		bool changed = false;
-		for (uint8_t i = 0; i < 8; i++) {
-			uint16_t v = APM_RC.InputCh(i);
-			if (abs(v - last_values[i]) > 10) {
-				changed = true;
-			}
-			last_values[i] = v;
-		}
-		if (changed) {
-			for (uint8_t i = 0; i < 8; i++) {
-				Serial.printf("%u:%4u ", (unsigned)i, (unsigned)last_values[i]);
-			}
-			Serial.println();
-			delayMicroseconds(500);
-		}
-	}
-
-#if USE_CLI
-	uint8_t oldSREG = SREG;
-	cli();
-	delayMicroseconds(100);
-	SREG = oldSREG;
-#endif
-
-#if USE_MASK
-	uint8_t _timsk4 = TIMSK4;
-	TIMSK4 &= ~(1<<ICIE4);
-	delayMicroseconds(100);
-	TIMSK4 = _timsk4;
-#endif
-}
diff --git a/libraries/APM_RC/examples/ISR_Mask/Makefile b/libraries/APM_RC/examples/ISR_Mask/Makefile
deleted file mode 100644
index a5d5e7918b..0000000000
--- a/libraries/APM_RC/examples/ISR_Mask/Makefile
+++ /dev/null
@@ -1,2 +0,0 @@
-BOARD	=	mega2560
-include ../../../AP_Common/Arduino.mk
diff --git a/libraries/APM_RC/keywords.txt b/libraries/APM_RC/keywords.txt
deleted file mode 100644
index 3efcc0fa52..0000000000
--- a/libraries/APM_RC/keywords.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-APM_RC	KEYWORD1
-begin	KEYWORD2
-InputCh	KEYWORD2
-OutputCh	KEYWORD2
-GetState	KEYWORD2
-Force_Out0_Out1	KEYWORD2
-Force_Out2_Out3	KEYWORD2
-Force_Out6_Out7	KEYWORD2