diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index d89ffa43f5ea63..92886b132f2af7 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -115,9 +115,6 @@ def close(self):
     def is_copter(self):
         return True
 
-    def get_stick_arming_channel(self):
-        return int(self.get_parameter("RCMAP_YAW"))
-
     def get_disarm_delay(self):
         return int(self.get_parameter("DISARM_DELAY"))
 
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 636575f57cb318..959ef6d82a39cc 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -86,9 +86,6 @@ def apply_defaultfile_parameters(self):
     def is_plane(self):
         return True
 
-    def get_stick_arming_channel(self):
-        return int(self.get_parameter("RCMAP_YAW"))
-
     def get_disarm_delay(self):
         return int(self.get_parameter("LAND_DISARMDELAY"))
 
diff --git a/Tools/autotest/default_params/vee-gull 005.param b/Tools/autotest/default_params/vee-gull 005.param
index 710889e2d7b0d8..5c34436e541e2f 100644
--- a/Tools/autotest/default_params/vee-gull 005.param	
+++ b/Tools/autotest/default_params/vee-gull 005.param	
@@ -451,10 +451,6 @@ RC9_MAX,1900
 RC9_MIN,1100
 RC9_REVERSED,0
 RC9_TRIM,1500
-RCMAP_PITCH,2
-RCMAP_ROLL,1
-RCMAP_THROTTLE,3
-RCMAP_YAW,4
 RELAY_DEFAULT,0
 RELAY1_PIN,13
 RLL_RATE_D,0.000000
diff --git a/Tools/autotest/param_metadata/mdemit.py b/Tools/autotest/param_metadata/mdemit.py
index e6edba803bd8c0..48dfd28dd67b81 100644
--- a/Tools/autotest/param_metadata/mdemit.py
+++ b/Tools/autotest/param_metadata/mdemit.py
@@ -8,7 +8,7 @@
 import os
 
 # Parameter groups disabled at compile time (Vehicle-specific)
-sub_blacklist = ['AVOID_', 'CIRCLE_', 'FLOW', 'MIS_', 'PRX', 'RALLY_', 'RCMAP_', 'RPM', 'TERRAIN_', 'WPNAV_']
+sub_blacklist = ['AVOID_', 'CIRCLE_', 'FLOW', 'MIS_', 'PRX', 'RALLY_', 'RPM', 'TERRAIN_', 'WPNAV_']
 
 # Parameter groups with redundant information (ie RCn_, SERVOn_)
 # We can keep the documentation concise by only documenting these once
diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py
index 1207691fc76650..0289d2e05c0b4a 100644
--- a/Tools/autotest/quadplane.py
+++ b/Tools/autotest/quadplane.py
@@ -81,9 +81,6 @@ def defaults_filepath(self):
     def is_plane(self):
         return True
 
-    def get_stick_arming_channel(self):
-        return int(self.get_parameter("RCMAP_YAW"))
-
     def get_disarm_delay(self):
         return int(self.get_parameter("LAND_DISARMDELAY"))
 
diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index 8fbf383e10ee41..49400fc5a2b316 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -76,8 +76,9 @@ def default_speedup(self):
     def is_rover(self):
         return True
 
-    def get_stick_arming_channel(self):
-        return int(self.get_parameter("RCMAP_ROLL"))
+    def rc_option_value_for_arming_channel(self):
+        # Rover uses the "steer" channel for arming
+        return 205
 
     ##########################################################
     #   TESTS DRIVE
diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
index 5b7e4f54b7ecdc..1bc3f20347b405 100644
--- a/Tools/autotest/vehicle_test_suite.py
+++ b/Tools/autotest/vehicle_test_suite.py
@@ -5251,10 +5251,6 @@ def set_output_to_trim(self, chan):
         out_trim = int(self.get_parameter("RC%u_TRIM" % chan))
         self.set_rc(chan, out_trim)
 
-    def get_stick_arming_channel(self):
-        """Return the Rudder channel number as set in parameter."""
-        raise ErrorException("Rudder parameter is not supported by vehicle %s frame %s", (self.vehicleinfo_key(), self.frame))
-
     def get_disarm_delay(self):
         """Return disarm delay value."""
         raise ErrorException("Disarm delay is not supported by vehicle %s frame %s", (self.vehicleinfo_key(), self.frame))
@@ -5286,6 +5282,22 @@ def set_safetyswitch(self, value, target_system=1, target_component=1):
             timeout=30
         )
 
+    def max_rc_channels(self):
+        return 16
+
+    def rc_option_value_for_arming_channel(self):
+        return 204
+
+    def get_stick_arming_channel(self):
+        option = self.rc_option_value_for_arming_channel()
+        for i in range(1, self.max_rc_channels() + 1):
+            v = self.get_parameter("RC%u_OPTION" % i)
+            self.progress("v=%u" % v)
+            if v == option:
+                self.progress("yaw is on channel %u" % i)
+                return i
+        raise PreconditionFailedException("No stick arming channel configured")
+
     def armed(self):
         """Return true if vehicle is armed and safetyoff"""
         self.wait_heartbeat()