diff --git a/apps/drivers/stm32/drv_pwm_servo.c b/apps/drivers/stm32/drv_pwm_servo.c
index e3801a4170..50aa34d81a 100644
--- a/apps/drivers/stm32/drv_pwm_servo.c
+++ b/apps/drivers/stm32/drv_pwm_servo.c
@@ -171,10 +171,8 @@ pwm_channel_init(unsigned channel)
 int
 up_pwm_servo_set(unsigned channel, servo_position_t value)
 {
-	if (channel >= PWM_SERVO_MAX_CHANNELS) {
-		lldbg("pwm_channel_set: bogus channel %u\n", channel);
+	if (channel >= PWM_SERVO_MAX_CHANNELS)
 		return -1;
-	}
 
 	unsigned timer = pwm_channels[channel].timer_index;
 
@@ -214,17 +212,15 @@ up_pwm_servo_set(unsigned channel, servo_position_t value)
 servo_position_t
 up_pwm_servo_get(unsigned channel)
 {
-	if (channel >= PWM_SERVO_MAX_CHANNELS) {
-		lldbg("pwm_channel_get: bogus channel %u\n", channel);
+	if (channel >= PWM_SERVO_MAX_CHANNELS)
 		return 0;
-	}
 
 	unsigned timer = pwm_channels[channel].timer_index;
 	servo_position_t value = 0;
 
 	/* test timer for validity */
 	if ((pwm_timers[timer].base == 0) ||
-	    (pwm_channels[channel].gpio == 0))
+	    (pwm_channels[channel].timer_channel == 0))
 		return 0;
 
 	/* configure the channel */
@@ -246,7 +242,7 @@ up_pwm_servo_get(unsigned channel)
 		break;
 	}
 
-	return value;
+	return value + 1;
 }
 
 int
@@ -261,7 +257,7 @@ up_pwm_servo_init(uint32_t channel_mask)
 	/* now init channels */
 	for (unsigned i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) {
 		/* don't do init for disabled channels; this leaves the pin configs alone */
-		if (((1 << i) & channel_mask) && (pwm_channels[i].gpio != 0))
+		if (((1 << i) & channel_mask) && (pwm_channels[i].timer_channel != 0))
 			pwm_channel_init(i);
 	}
 
diff --git a/apps/px4io/mixer.c b/apps/px4io/mixer.c
index 94d10ef573..fab5773832 100644
--- a/apps/px4io/mixer.c
+++ b/apps/px4io/mixer.c
@@ -96,7 +96,7 @@ struct mixer {
 } mixers[IO_SERVO_COUNT];
 
 int
-mixer_init(const char *mq_name)
+mixer_init(void)
 {
 	/* look for control data at 50Hz */
 	hrt_call_every(&mixer_input_call, 1000, 20000, mixer_tick, NULL);
diff --git a/apps/px4io/px4io.c b/apps/px4io/px4io.c
index 90057c790c..dc8e227fcd 100644
--- a/apps/px4io/px4io.c
+++ b/apps/px4io/px4io.c
@@ -59,8 +59,6 @@ int			gpio_fd;
 
 static const char cursor[] = {'|', '/', '-', '\\'};
 
-static const char *rc_input_mq_name = "rc_input";
-
 static struct hrt_call timer_tick_call;
 volatile int timers[TIMER_NUM_TIMERS];
 static void timer_tick(void *arg);
@@ -74,7 +72,11 @@ int user_start(int argc, char *argv[])
 	/* configure the high-resolution time/callout interface */
 	hrt_init();
 
-	/* configure the PWM outputs */
+	/* init the FMU link */
+	comms_init();
+
+	/* configure the first 8 PWM outputs (i.e. all of them) */
+	/* note, must do this after comms init to steal back PA0, which is CTS otherwise */
 	up_pwm_servo_init(0xff);
 
 	/* print some startup info */
@@ -94,14 +96,11 @@ int user_start(int argc, char *argv[])
 	POWER_SERVO(true);
 
 	/* start the mixer */
-	mixer_init(rc_input_mq_name);
+	mixer_init();
 
 	/* start the safety switch handler */
 	safety_init();
 
-	/* init the FMU link */
-	comms_init();
-
 	/* set up some timers for the main loop */
 	timers[TIMER_BLINK_AMBER] = 250;	/* heartbeat blink @ 2Hz */
 	timers[TIMER_STATUS_PRINT] = 1000;	/* print status message @ 1Hz */
diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h
index bbbe918654..7aef881020 100644
--- a/apps/px4io/px4io.h
+++ b/apps/px4io/px4io.h
@@ -52,6 +52,16 @@
 #define MAX_CONTROL_CHANNELS	12
 #define IO_SERVO_COUNT		8
 
+/*
+ * Debug logging
+ */
+
+#if 1
+# define debug(fmt, ...)	lib_lowprintf(fmt "\n", ##args)
+#else
+# define debug(fmt, ...)	do {} while(0)
+#endif
+
 /*
  * System state structure.
  */
@@ -130,7 +140,7 @@ extern volatile int	timers[TIMER_NUM_TIMERS];
 /*
  * Mixer
  */
-extern int	mixer_init(const char *mq_name);
+extern int	mixer_init(void);
 
 /*
  * Safety switch/LED.