diff --git a/ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.cpp b/ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.cpp
index a4cee9d88..d39abf3bc 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.cpp
@@ -26,18 +26,18 @@
  */
 
 #include "outputcalibrationutil.h"
-#include "actuatorcommand.h"
+#include "uavobject.h"
+#include "uavobjectmanager.h"
 #include "extensionsystem/pluginmanager.h"
 #include "vehicleconfigurationhelper.h"
 #include "manualcontrolsettings.h"
 
+bool OutputCalibrationUtil::c_prepared = false;
+ActuatorCommand::Metadata OutputCalibrationUtil::c_savedActuatorCommandMetaData;
+
 OutputCalibrationUtil::OutputCalibrationUtil(QObject *parent) :
     QObject(parent), m_outputChannel(-1), m_safeValue(1000)
 {
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-
-    m_uavObjectManager = pm->getObject<UAVObjectManager>();
-    Q_ASSERT(m_uavObjectManager);
 }
 
 OutputCalibrationUtil::~OutputCalibrationUtil()
@@ -45,22 +45,26 @@ OutputCalibrationUtil::~OutputCalibrationUtil()
     stopChannelOutput();
 }
 
-void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValue)
+ActuatorCommand * OutputCalibrationUtil::getActuatorCommandObject()
 {
-    if (m_outputChannel < 0 && channel < ActuatorCommand::CHANNEL_NUMELEM) {
-        // Start output...
-        m_outputChannel = channel;
-        m_safeValue     = safeValue;
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    Q_ASSERT(pm);
 
-        qDebug() << "Starting output for channel " << m_outputChannel + 1 << "...";
+    UAVObjectManager *uavObjectManager = pm->getObject<UAVObjectManager>();
+    Q_ASSERT(uavObjectManager);
 
-        ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
-        Q_ASSERT(actuatorCommand);
+    ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(uavObjectManager);
+    Q_ASSERT(actuatorCommand);
+
+    return actuatorCommand;
+}
+
+void OutputCalibrationUtil::startOutputCalibration()
+{
+    if (!c_prepared) {
+        ActuatorCommand *actuatorCommand = getActuatorCommandObject();
         UAVObject::Metadata metaData     = actuatorCommand->getMetadata();
-        m_savedActuatorCommandMetadata = metaData;
-
-        // Store current data for later restore
-        m_savedActuatorCommandData     = actuatorCommand->getData();
+        c_savedActuatorCommandMetaData = metaData;
 
         // Enable actuator control from GCS...
         // Store current metadata for later restore
@@ -73,41 +77,65 @@ void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValu
         // Apply changes
         actuatorCommand->setMetadata(metaData);
         actuatorCommand->updated();
+        c_prepared = true;
+        qDebug() << "OutputCalibrationUtil started.";
+    }
+}
 
-        qDebug() << "Output for channel " << m_outputChannel + 1 << " started.";
+void OutputCalibrationUtil::stopOutputCalibration()
+{
+    if (c_prepared) {
+        ActuatorCommand *actuatorCommand = getActuatorCommandObject();
+        actuatorCommand->setMetadata(c_savedActuatorCommandMetaData);
+        actuatorCommand->updated();
+        c_prepared = false;
+        qDebug() << "OutputCalibrationUtil stopped.";
+    }
+}
+
+void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValue)
+{
+    if (c_prepared) {
+        if (m_outputChannel < 0 && channel < ActuatorCommand::CHANNEL_NUMELEM) {
+            // Start output...
+            m_outputChannel = channel;
+            m_safeValue     = safeValue;
+            qDebug() << "Output for channel " << m_outputChannel + 1 << " started.";
+        }
+    } else {
+        qDebug() << "OutputCalibrationUtil not started.";
     }
 }
 
 void OutputCalibrationUtil::stopChannelOutput()
 {
-    if (m_outputChannel >= 0) {
-        qDebug() << "Stopping output for channel " << m_outputChannel + 1 << "...";
-        // Stop output...
-        setChannelOutputValue(m_safeValue);
-        qDebug() << "Settings output for channel " << m_outputChannel + 1 << " to " << m_safeValue;
+    if (c_prepared) {
+        if (m_outputChannel >= 0) {
+            qDebug() << "Stopping output for channel " << m_outputChannel + 1 << "...";
+            // Stop output...
+            setChannelOutputValue(m_safeValue);
+            qDebug() << "Settings output for channel " << m_outputChannel + 1 << " to " << m_safeValue;
+            qDebug() << "Output for channel " << m_outputChannel + 1 << " stopped.";
 
-        // Restore metadata to what it was before
-        ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
-        Q_ASSERT(actuatorCommand);
-        // actuatorCommand->setData(m_savedActuatorCommandData);
-        actuatorCommand->setMetadata(m_savedActuatorCommandMetadata);
-        actuatorCommand->updated();
-
-        qDebug() << "Output for channel " << m_outputChannel + 1 << " stopped.";
-
-        m_outputChannel = -1;
+            m_outputChannel = -1;
+        }
+    } else {
+        qDebug() << "OutputCalibrationUtil not started.";
     }
 }
 
 void OutputCalibrationUtil::setChannelOutputValue(quint16 value)
 {
-    if (m_outputChannel >= 0) {
-        // Set output value
-        qDebug() << "Setting output value for channel " << m_outputChannel << " to " << value << ".";
-        ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
-        Q_ASSERT(actuatorCommand);
-        ActuatorCommand::DataFields data = actuatorCommand->getData();
-        data.Channel[m_outputChannel] = value;
-        actuatorCommand->setData(data);
+    if (c_prepared) {
+        if (m_outputChannel >= 0) {
+            // Set output value
+            qDebug() << "Setting output value for channel " << m_outputChannel << " to " << value << ".";
+            ActuatorCommand *actuatorCommand = getActuatorCommandObject();
+            ActuatorCommand::DataFields data = actuatorCommand->getData();
+            data.Channel[m_outputChannel] = value;
+            actuatorCommand->setData(data);
+        } else {
+            qDebug() << "OutputCalibrationUtil not started.";
+        }
     }
 }
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.h b/ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.h
index 4867e5660..3ca5bb78e 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.h
+++ b/ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.h
@@ -29,10 +29,6 @@
 #define OUTPUTCALIBRATIONUTIL_H
 
 #include <QObject>
-#include <QList>
-#include "uavobject.h"
-#include "uavobjectmanager.h"
-#include "vehicleconfigurationsource.h"
 #include "actuatorcommand.h"
 
 
@@ -42,20 +38,20 @@ public:
     explicit OutputCalibrationUtil(QObject *parent = 0);
     ~OutputCalibrationUtil();
 
-signals:
+    static void startOutputCalibration();
+    static void stopOutputCalibration();
+    static ActuatorCommand * getActuatorCommandObject();
 
 public slots:
     void startChannelOutput(quint16 channel, quint16 safeValue);
     void stopChannelOutput();
-
     void setChannelOutputValue(quint16 value);
 
 private:
+    static bool c_prepared;
+    static ActuatorCommand::Metadata c_savedActuatorCommandMetaData;
     qint16 m_outputChannel;
     quint16 m_safeValue;
-    UAVObject::Metadata m_savedActuatorCommandMetadata;
-    ActuatorCommand::DataFields m_savedActuatorCommandData;
-    UAVObjectManager *m_uavObjectManager;
 };
 
 #endif // OUTPUTCALIBRATIONUTIL_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/esccalibrationpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/esccalibrationpage.cpp
index cedad20b1..45410b415 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/esccalibrationpage.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/esccalibrationpage.cpp
@@ -102,6 +102,7 @@ void EscCalibrationPage::startButtonClicked()
         MixerSettings *mSettings = MixerSettings::GetInstance(uavoManager);
         Q_ASSERT(mSettings);
         QString mixerTypePattern = "Mixer%1Type";
+        OutputCalibrationUtil::startOutputCalibration();
         for (quint32 i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
             UAVObjectField *field = mSettings->getField(mixerTypePattern.arg(i + 1));
             Q_ASSERT(field);
@@ -145,6 +146,7 @@ void EscCalibrationPage::stopButtonClicked()
             output->stopChannelOutput();
             delete output;
         }
+        OutputCalibrationUtil::stopOutputCalibration();
         ui->outputLevel->setText(QString(tr("%1 µs")).arg(OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS));
         ui->outputHigh->setEnabled(false);
         ui->outputLow->setEnabled(true);
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
index 936d520f5..e9c1f8ab2 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
@@ -274,7 +274,6 @@ void OutputCalibrationPage::setupVehicleHighlightedPart()
 void OutputCalibrationPage::setWizardPage()
 {
     qDebug() << "Wizard index: " << m_currentWizardIndex;
-    m_calibrationUtil->stopChannelOutput();
 
     QApplication::processEvents();
 
@@ -386,6 +385,7 @@ void OutputCalibrationPage::onStartButtonToggle(QAbstractButton *button, quint16
         if (checkAlarms()) {
             enableButtons(false);
             enableServoSliders(true);
+            OutputCalibrationUtil::startOutputCalibration();
             m_calibrationUtil->startChannelOutput(channel, safeValue);
             slider->setValue(value);
             m_calibrationUtil->setChannelOutputValue(value);
@@ -394,6 +394,7 @@ void OutputCalibrationPage::onStartButtonToggle(QAbstractButton *button, quint16
         }
     } else {
         m_calibrationUtil->stopChannelOutput();
+        OutputCalibrationUtil::stopOutputCalibration();
         enableServoSliders(false);
         enableButtons(true);
     }