diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index 7a27140460b1c..8d63ccda5af30 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -158,10 +158,7 @@ void Sub::fifty_hz_loop()
 
     failsafe_sensors_check();
 
-    // Update rc input/output
     rc().read_input();
-    SRV_Channels::calc_pwm();
-    SRV_Channels::output_ch_all();
 }
 
 // update_batt_compass - read battery and compass
diff --git a/ArduSub/motors.cpp b/ArduSub/motors.cpp
index 895ade8c8c53b..5d45a2c00fbe2 100644
--- a/ArduSub/motors.cpp
+++ b/ArduSub/motors.cpp
@@ -18,7 +18,11 @@ void Sub::motors_output()
         verify_motor_test();
     } else {
         motors.set_interlock(true);
+        SRV_Channels::cork();
+        SRV_Channels::calc_pwm();
+        SRV_Channels::output_ch_all();
         motors.output();
+        SRV_Channels::push();
     }
 }