diff --git a/libraries/AP_HAL_AVR/RCOutput_APM2.cpp b/libraries/AP_HAL_AVR/RCOutput_APM2.cpp
index fdf5106f25c6376e40843f6f9c6036b23b05b7eb..ab25eba617351ecbc01a99e1e7f6fc67ee56049d 100644
--- a/libraries/AP_HAL_AVR/RCOutput_APM2.cpp
+++ b/libraries/AP_HAL_AVR/RCOutput_APM2.cpp
@@ -153,8 +153,20 @@ void APM2RCOutput::write(uint8_t ch, uint16_t period_us) {
     switch(ch)
     {
     case 0:  OCR1B=pwm; break;  // out1
-    case 1:  OCR1A=pwm; break;  // out2
-    case 2:  OCR4C=pwm; break;  // out3
+    case 1:  {
+    	//OCR1A=pwm;
+    	break;  // out2
+    }
+    case 2:  {
+		if (period_us > 1500) {
+	        	OCR4C=constrain_period((uint16_t)(period_us)) << 1;
+	        	OCR1A=constrain_period((uint16_t)(1000)) << 1;
+		} else {
+	        	OCR4C=constrain_period((uint16_t)(1500 - period_us + 1500)) << 1;
+	        	OCR1A=constrain_period((uint16_t)(2000)) << 1;
+		}
+        break;  // out3
+    }
     case 3:  OCR4B=pwm; break;  // out4
     case 4:  OCR4A=pwm; break;  // out5
     case 5:  OCR3C=pwm; break;  // out6