diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c
index 4ad0fd261..2fa2c9116 100644
--- a/flight/CopterControl/System/pios_board.c
+++ b/flight/CopterControl/System/pios_board.c
@@ -865,7 +865,7 @@ void PIOS_I2C_main_adapter_er_irq_handler(void)
 #if defined(PIOS_INCLUDE_RCVR)
 #include "pios_rcvr_priv.h"
 
-uint32_t pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_DEVS];
+struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
 uint32_t pios_rcvr_max_channel;
 #endif /* PIOS_INCLUDE_RCVR */
 
@@ -1040,28 +1040,32 @@ void PIOS_Board_Init(void) {
 	case MANUALCONTROLSETTINGS_INPUTMODE_PWM:
 #if defined(PIOS_INCLUDE_PWM)
 		PIOS_PWM_Init();
-		for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) {
-			if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
-					    &pios_pwm_rcvr_driver,
-					    i)) {
-				pios_rcvr_max_channel++;
-			} else {
-				PIOS_Assert(0);
-			}
+		uint32_t pios_pwm_rcvr_id;
+		if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) {
+		  PIOS_Assert(0);
+		}
+		for (uint8_t i = 0;
+		     i < PIOS_PWM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
+		     i++) {
+			pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_pwm_rcvr_id;
+			pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
+			pios_rcvr_max_channel++;
 		}
 #endif	/* PIOS_INCLUDE_PWM */
 		break;
 	case MANUALCONTROLSETTINGS_INPUTMODE_PPM:
 #if defined(PIOS_INCLUDE_PPM)
 		PIOS_PPM_Init();
-		for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) {
-			if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
-					    &pios_ppm_rcvr_driver,
-					    i)) {
-				pios_rcvr_max_channel++;
-			} else {
-				PIOS_Assert(0);
-			}
+		uint32_t pios_ppm_rcvr_id;
+		if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) {
+		  PIOS_Assert(0);
+		}
+		for (uint8_t i = 0;
+		     i < PIOS_PPM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
+		     i++) {
+			pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_ppm_rcvr_id;
+			pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
+			pios_rcvr_max_channel++;
 		}
 #endif	/* PIOS_INCLUDE_PPM */
 		break;
@@ -1069,30 +1073,34 @@ void PIOS_Board_Init(void) {
 #if defined(PIOS_INCLUDE_SPEKTRUM)
 		if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM ||
 		    hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM) {
-			for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) {
-				if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
-						    &pios_spektrum_rcvr_driver,
-						    i)) {
-					pios_rcvr_max_channel++;
-				} else {
-					PIOS_Assert(0);
-				}
-			}		
+			uint32_t pios_spektrum_rcvr_id;
+			if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) {
+				PIOS_Assert(0);
+			}
+			for (uint8_t i = 0;
+			     i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
+			     i++) {
+				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id;
+				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
+				pios_rcvr_max_channel++;
+			}
 		}
 #endif	/* PIOS_INCLUDE_SPEKTRUM */
 		break;
 	case MANUALCONTROLSETTINGS_INPUTMODE_SBUS:
 #if defined(PIOS_INCLUDE_SBUS)
 		if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SBUS) {
-			for (uint8_t i = 0; i < SBUS_NUMBER_OF_CHANNELS && i < PIOS_RCVR_MAX_DEVS; i++) {
-				if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
-						    &pios_sbus_rcvr_driver,
-						    i)) {
-					pios_rcvr_max_channel++;
-				} else {
-					PIOS_Assert(0);
-				}
-			}		
+			uint32_t pios_sbus_rcvr_id;
+			if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, 0)) {
+				PIOS_Assert(0);
+			}
+			for (uint8_t i = 0;
+			     i < SBUS_NUMBER_OF_CHANNELS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
+			     i++) {
+				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_sbus_rcvr_id;
+				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
+				pios_rcvr_max_channel++;
+			}
 		}
 #endif  /* PIOS_INCLUDE_SBUS */
 		break;
diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c
index 4d5b3af02..19b6bc293 100644
--- a/flight/Modules/ManualControl/manualcontrol.c
+++ b/flight/Modules/ManualControl/manualcontrol.c
@@ -166,8 +166,9 @@ static void manualControlTask(void *parameters)
 
 			// Read channel values in us
 			for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) {
-				if (pios_rcvr_channel_to_id_map[n]) {
-					cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_channel_to_id_map[n]);
+				if (pios_rcvr_channel_to_id_map[n].id) {
+					cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_channel_to_id_map[n].id,
+									pios_rcvr_channel_to_id_map[n].channel);
 				} else {
 					cmd.Channel[n] = -1;
 				}
diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c
index 16725c654..ab3a99533 100644
--- a/flight/OpenPilot/System/pios_board.c
+++ b/flight/OpenPilot/System/pios_board.c
@@ -975,7 +975,7 @@ static const struct stm32_gpio pios_debug_pins[] = {
 #if defined(PIOS_INCLUDE_RCVR)
 #include "pios_rcvr_priv.h"
 
-uint32_t pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_DEVS];
+struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
 uint32_t pios_rcvr_max_channel;
 #endif /* PIOS_INCLUDE_RCVR */
 
@@ -1077,41 +1077,45 @@ void PIOS_Board_Init(void) {
 	switch (manualcontrolsettings_inputmode) {
 		case MANUALCONTROLSETTINGS_INPUTMODE_PWM:
 #if defined(PIOS_INCLUDE_PWM)
-#if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS)
+#if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
 #error More receiver inputs than available devices
 #endif
-	PIOS_PWM_Init();
-	for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) {
-		if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
-			   &pios_pwm_rcvr_driver,
-			   i)) {
-			pios_rcvr_max_channel++;
-		} else {
-			PIOS_Assert(0);
-		}
-	}
+			PIOS_PWM_Init();
+			uint32_t pios_pwm_rcvr_id;
+			if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) {
+			  PIOS_Assert(0);
+			}
+			for (uint8_t i = 0;
+			     i < PIOS_PWM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
+			     i++) {
+				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_pwm_rcvr_id;
+				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
+				pios_rcvr_max_channel++;
+			}
 #endif  /* PIOS_INCLUDE_PWM */
 			break;
 		case MANUALCONTROLSETTINGS_INPUTMODE_PPM:
 #if defined(PIOS_INCLUDE_PPM)
-#if (PIOS_PPM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS)
+#if (PIOS_PPM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
 #error More receiver inputs than available devices
 #endif
-	PIOS_PPM_Init();
-	for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) {
-		if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
-			   &pios_ppm_rcvr_driver,
-			   i)) {
-			pios_rcvr_max_channel++;
-		} else {
-			PIOS_Assert(0);
-		}
-	}
+			PIOS_PPM_Init();
+			uint32_t pios_ppm_rcvr_id;
+			if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) {
+			  PIOS_Assert(0);
+			}
+			for (uint8_t i = 0;
+			     i < PIOS_PPM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
+			     i++) {
+				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_ppm_rcvr_id;
+				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
+				pios_rcvr_max_channel++;
+			}
 #endif	/* PIOS_INCLUDE_PPM */
 			break;
 		case MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM:
 #if defined(PIOS_INCLUDE_SPEKTRUM)
-#if (PIOS_SPEKTRUM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS)
+#if (PIOS_SPEKTRUM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
 #error More receiver inputs than available devices
 #endif
 			/* SPEKTRUM init must come before comms */
@@ -1121,14 +1125,16 @@ void PIOS_Board_Init(void) {
 			if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
 				PIOS_Assert(0);
 			}
-			for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) {
-				if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
-						    &pios_spektrum_rcvr_driver,
-						    i)) {
-					pios_rcvr_max_channel++;
-				} else {
-					PIOS_Assert(0);
-				}
+			uint32_t pios_spektrum_rcvr_id;
+			if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) {
+				PIOS_Assert(0);
+			}
+			for (uint8_t i = 0;
+			     i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
+			     i++) {
+				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id;
+				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
+				pios_rcvr_max_channel++;
 			}
 #endif
 			break;
diff --git a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h
index 3a69f4777..38a29868c 100644
--- a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h
+++ b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h
@@ -225,7 +225,8 @@ extern uint32_t pios_com_sbus_id;
 // PIOS_RCVR
 // See also pios_board.c
 //------------------------
-#define PIOS_RCVR_MAX_DEVS                      12
+#define PIOS_RCVR_MAX_DEVS                      1
+#define PIOS_RCVR_MAX_CHANNELS			12
 
 //-------------------------
 // Receiver PPM input
diff --git a/flight/PiOS/Boards/STM3210E_OP.h b/flight/PiOS/Boards/STM3210E_OP.h
index 823f83a6e..c25e6ccfa 100644
--- a/flight/PiOS/Boards/STM3210E_OP.h
+++ b/flight/PiOS/Boards/STM3210E_OP.h
@@ -198,7 +198,8 @@ extern uint32_t pios_com_sbus_id;
 // PIOS_RCVR
 // See also pios_board.c
 //------------------------
-#define PIOS_RCVR_MAX_DEVS                      12
+#define PIOS_RCVR_MAX_DEVS			1
+#define PIOS_RCVR_MAX_CHANNELS			12
 
 //-------------------------
 // Receiver PPM input
diff --git a/flight/PiOS/Common/pios_rcvr.c b/flight/PiOS/Common/pios_rcvr.c
index b74f7beb2..f43fee69f 100644
--- a/flight/PiOS/Common/pios_rcvr.c
+++ b/flight/PiOS/Common/pios_rcvr.c
@@ -5,6 +5,16 @@
 
 #include <pios_rcvr_priv.h>
 
+enum pios_rcvr_dev_magic {
+  PIOS_RCVR_DEV_MAGIC = 0x99aabbcc,
+};
+
+struct pios_rcvr_dev {
+  enum pios_rcvr_dev_magic        magic;
+  uint32_t                        lower_id;
+  const struct pios_rcvr_driver * driver;
+};
+
 static bool PIOS_RCVR_validate(struct pios_rcvr_dev * rcvr_dev)
 {
   return (rcvr_dev->magic == PIOS_RCVR_DEV_MAGIC);
@@ -56,8 +66,8 @@ int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * drive
   rcvr_dev = (struct pios_rcvr_dev *) PIOS_RCVR_alloc();
   if (!rcvr_dev) goto out_fail;
 
-  rcvr_dev->driver = driver;
-  rcvr_dev->id     = lower_id;
+  rcvr_dev->driver   = driver;
+  rcvr_dev->lower_id = lower_id;
 
   *rcvr_id = (uint32_t)rcvr_dev;
   return(0);
@@ -66,7 +76,7 @@ out_fail:
   return(-1);
 }
 
-int32_t PIOS_RCVR_Read(uint32_t rcvr_id)
+int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel)
 {
   struct pios_rcvr_dev * rcvr_dev = (struct pios_rcvr_dev *)rcvr_id;
 
@@ -77,7 +87,7 @@ int32_t PIOS_RCVR_Read(uint32_t rcvr_id)
 
   PIOS_DEBUG_Assert(rcvr_dev->driver->read);
 
-  return rcvr_dev->driver->read(rcvr_dev->id);
+  return rcvr_dev->driver->read(rcvr_dev->lower_id, channel);
 }
 
 #endif
diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld
index 8ce4caa6b..d2c4abb17 100644
--- a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld
+++ b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld
@@ -2,8 +2,6 @@
 _irq_stack_size = 0x180;
 /* This is the size of the stack for early init: life span is until scheduler starts */
 _init_stack_size = 0x100;
-/* there is probably a way to get that from the MEMORY section */
-_eram = ORIGIN(SRAM) + LENGTH(SRAM);
 
 /* Stub out these functions since we don't use them anyway */
 PROVIDE (   vPortSVCHandler = 0 ) ;
@@ -91,12 +89,11 @@ SECTIONS
         _sbss = . ;
         *(.bss .bss.*)
         *(COMMON)
-        . = ALIGN(4);
-        _ebss = . ;
     } > SRAM
 
     .heap (NOLOAD) :
     {
+        . = ALIGN(4);
         _sheap = . ;
         _sheap_pre_rtos = . ;
         *(.heap)
@@ -111,13 +108,22 @@ SECTIONS
         _init_stack_top = . - 4 ;
     } > SRAM
 
+    
+    _free_ram = . ;
+    .free_ram (NOLOAD) :
+    {
+	. = ORIGIN(SRAM) + LENGTH(SRAM) - _free_ram ;
+        /* This is used by the startup in order to initialize the .bss section */
+	_ebss = . ;
+	_eram = . ;
+    } > SRAM
 
-/* keep the heap section at the end of the SRAM */
-/* this will allow to claim the remaining bytes not used
-/* at run time! (done by the reset vector).
+    /* keep the heap section at the end of the SRAM
+     * this will allow to claim the remaining bytes not used
+     * at run time! (done by the reset vector).
+     */
 
-    . = ALIGN(4);
-    _end = . ;
+    PROVIDE ( _end = _ebss ) ;
 
     /* Stabs debugging sections.  */
     .stab          0 : { *(.stab) }
diff --git a/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld b/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld
index 669eb10e2..87a65d7c1 100644
--- a/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld
+++ b/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld
@@ -2,8 +2,6 @@
 _irq_stack_size = 0x400;
 /* This is the size of the stack for early init: life span is until scheduler starts */
 _init_stack_size = 0x400;
-/* there is probably a way to get that from the MEMORY section */
-_eram = ORIGIN(RAM) + LENGTH(RAM);
 
 /* Check valid alignment for VTOR */
 ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
@@ -264,19 +262,16 @@ SECTIONS
     .bss :
     {
             . = ALIGN(4);
-        /* This is used by the startup in order to initialize the .bss secion */
+        /* This is used by the startup in order to initialize the .bss section */
         _sbss = .;
         
         *(.bss)
         *(COMMON)
-        
-            . = ALIGN(4);
-            /* This is used by the startup in order to initialize the .bss secion */
-         _ebss = . ;
     } >RAM
     
     .heap (NOLOAD) :
     {
+        . = ALIGN(4);
         _sheap = . ;
         _sheap_pre_rtos = . ;
         *(.heap)
@@ -290,10 +285,20 @@ SECTIONS
         _eheap_post_rtos = . ;
         _init_stack_top = . - 4 ;
     } > RAM
-    
-    /* keep the heap section at the end of the SRAM */
-    /* this will allow to claim the remaining bytes not used
-    /* at run time! (done by the reset vector).
+
+    _free_ram = . ;
+    .free_ram (NOLOAD) :
+    {
+	. = ORIGIN(RAM) + LENGTH(RAM) - _free_ram ;
+        /* This is used by the startup in order to initialize the .bss section */
+	_ebss = . ;
+	_eram = . ;
+    } > RAM
+
+    /* keep the heap section at the end of the SRAM
+     * this will allow to claim the remaining bytes not used
+     * at run time! (done by the reset vector).
+     */
 
     PROVIDE ( end = _ebss );
     PROVIDE ( _end = _ebss );
diff --git a/flight/PiOS/STM32F10x/pios_ppm.c b/flight/PiOS/STM32F10x/pios_ppm.c
index 3805bd7d1..851fe217a 100644
--- a/flight/PiOS/STM32F10x/pios_ppm.c
+++ b/flight/PiOS/STM32F10x/pios_ppm.c
@@ -35,7 +35,7 @@
 #if defined(PIOS_INCLUDE_PPM)
 
 /* Provide a RCVR driver */
-static int32_t PIOS_PPM_Get(uint32_t chan_id);
+static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel);
 
 const struct pios_rcvr_driver pios_ppm_rcvr_driver = {
 	.read = PIOS_PPM_Get,
@@ -160,13 +160,13 @@ void PIOS_PPM_Init(void)
 * \output -1 Channel not available
 * \output >0 Channel value
 */
-static int32_t PIOS_PPM_Get(uint32_t chan_id)
+static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel)
 {
 	/* Return error if channel not available */
-	if (chan_id >= PIOS_PPM_NUM_INPUTS) {
+	if (channel >= PIOS_PPM_NUM_INPUTS) {
 		return -1;
 	}
-	return CaptureValue[chan_id];
+	return CaptureValue[channel];
 }
 
 /**
diff --git a/flight/PiOS/STM32F10x/pios_pwm.c b/flight/PiOS/STM32F10x/pios_pwm.c
index e00da7cb9..bb539cf87 100644
--- a/flight/PiOS/STM32F10x/pios_pwm.c
+++ b/flight/PiOS/STM32F10x/pios_pwm.c
@@ -35,7 +35,7 @@
 #if defined(PIOS_INCLUDE_PWM)
 
 /* Provide a RCVR driver */
-static int32_t PIOS_PWM_Get(uint32_t chan_id);
+static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t chan_id);
 
 const struct pios_rcvr_driver pios_pwm_rcvr_driver = {
 	.read = PIOS_PWM_Get,
@@ -140,13 +140,13 @@ void PIOS_PWM_Init(void)
 * \output -1 Channel not available
 * \output >0 Channel value
 */
-static int32_t PIOS_PWM_Get(uint32_t chan_id)
+static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t channel)
 {
 	/* Return error if channel not available */
-	if (chan_id >= pios_pwm_cfg.num_channels) {
+	if (channel >= pios_pwm_cfg.num_channels) {
 		return -1;
 	}
-	return CaptureValue[chan_id];
+	return CaptureValue[channel];
 }
 
 void PIOS_PWM_irq_handler(TIM_TypeDef * timer)
diff --git a/flight/PiOS/STM32F10x/pios_sbus.c b/flight/PiOS/STM32F10x/pios_sbus.c
index 06fb4d5f8..9f8be3e4a 100644
--- a/flight/PiOS/STM32F10x/pios_sbus.c
+++ b/flight/PiOS/STM32F10x/pios_sbus.c
@@ -37,7 +37,7 @@
 /* Global Variables */
 
 /* Provide a RCVR driver */
-static int32_t PIOS_SBUS_Get(uint32_t chan_id);
+static int32_t PIOS_SBUS_Get(uint32_t rcvr_id, uint8_t channel);
 
 const struct pios_rcvr_driver pios_sbus_rcvr_driver = {
 	.read = PIOS_SBUS_Get,
@@ -155,13 +155,13 @@ void PIOS_SBUS_Init(const struct pios_sbus_cfg *cfg)
  * \output -1 channel not available
  * \output >0 channel value
  */
-static int32_t PIOS_SBUS_Get(uint32_t chan_id)
+static int32_t PIOS_SBUS_Get(uint32_t rcvr_id, uint8_t channel)
 {
 	/* return error if channel is not available */
-	if (chan_id >= SBUS_NUMBER_OF_CHANNELS) {
+	if (channel >= SBUS_NUMBER_OF_CHANNELS) {
 		return -1;
 	}
-	return channel_data[chan_id];
+	return channel_data[channel];
 }
 
 /**
diff --git a/flight/PiOS/STM32F10x/pios_spektrum.c b/flight/PiOS/STM32F10x/pios_spektrum.c
index 6d9678800..ce6a5a4f5 100644
--- a/flight/PiOS/STM32F10x/pios_spektrum.c
+++ b/flight/PiOS/STM32F10x/pios_spektrum.c
@@ -46,7 +46,7 @@
 /* Global Variables */
 
 /* Provide a RCVR driver */
-static int32_t PIOS_SPEKTRUM_Get(uint32_t chan_id);
+static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel);
 
 const struct pios_rcvr_driver pios_spektrum_rcvr_driver = {
 	.read = PIOS_SPEKTRUM_Get,
@@ -82,13 +82,13 @@ void PIOS_SPEKTRUM_Init(const struct pios_spektrum_cfg * cfg, bool bind)
 * \output -1 Channel not available
 * \output >0 Channel value
 */
-static int32_t PIOS_SPEKTRUM_Get(uint32_t chan_id)
+static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel)
 {
 	/* Return error if channel not available */
-	if (chan_id >= PIOS_SPEKTRUM_NUM_INPUTS) {
+	if (channel >= PIOS_SPEKTRUM_NUM_INPUTS) {
 		return -1;
 	}
-	return CaptureValue[chan_id];
+	return CaptureValue[channel];
 }
 
 /**
diff --git a/flight/PiOS/inc/pios_rcvr.h b/flight/PiOS/inc/pios_rcvr.h
index d2b8e2432..a32160894 100644
--- a/flight/PiOS/inc/pios_rcvr.h
+++ b/flight/PiOS/inc/pios_rcvr.h
@@ -31,15 +31,20 @@
 #ifndef PIOS_RCVR_H
 #define PIOS_RCVR_H
 
-extern uint32_t pios_rcvr_channel_to_id_map[];
+struct pios_rcvr_channel_map {
+	uint32_t id;
+	uint8_t  channel;
+};
+
+extern struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[];
 
 struct pios_rcvr_driver {
   void    (*init)(uint32_t id);
-  int32_t (*read)(uint32_t id);
+  int32_t (*read)(uint32_t id, uint8_t channel);
 };
 
 /* Public Functions */
-extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id);
+extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel);
 
 #endif /* PIOS_RCVR_H */
 
diff --git a/flight/PiOS/inc/pios_rcvr_priv.h b/flight/PiOS/inc/pios_rcvr_priv.h
index 332ab9331..968dc2116 100644
--- a/flight/PiOS/inc/pios_rcvr_priv.h
+++ b/flight/PiOS/inc/pios_rcvr_priv.h
@@ -36,16 +36,6 @@
 
 extern uint32_t pios_rcvr_max_channel;
 
-enum pios_rcvr_dev_magic {
-  PIOS_RCVR_DEV_MAGIC = 0x99aabbcc,
-};
-
-struct pios_rcvr_dev {
-  enum pios_rcvr_dev_magic        magic;
-  uint32_t                        id;
-  const struct pios_rcvr_driver * driver;
-};
-
 extern int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, const uint32_t lower_id);
 
 extern void PIOS_RCVR_IRQ_Handler(uint32_t rcvr_id);