AP_MotorsTri: remove call to empty parent Init

Also rename uses of Multirotor to Multicopter

libraries/AP_Motors/AP_MotorsTri.cpp

@@ -27,7 +27,7 @@ extern const AP_HAL::HAL& hal;
 
 const AP_Param::GroupInfo AP_MotorsTri::var_info[] PROGMEM = {
     // variables from parent vehicle
-    AP_NESTEDGROUPINFO(AP_Motors_Multirotor, 0),
+    AP_NESTEDGROUPINFO(AP_MotorsMulticopter, 0),
 
     // parameters 1 ~ 29 were reserved for tradheli
     // parameters 30 ~ 39 reserved for tricopter
@@ -74,9 +74,6 @@ const AP_Param::GroupInfo AP_MotorsTri::var_info[] PROGMEM = {
 // init
 void AP_MotorsTri::Init()
 {
-    // call parent Init function to set-up throttle curve
-    AP_Motors::Init();
-
     // set update rate for the 3 motors (but not the servo on channel 7)
     set_update_rate(_speed_hz);
 

libraries/AP_Motors/AP_MotorsTri.h

@@ -9,18 +9,18 @@
 #include <AP_Common.h>
 #include <AP_Math.h>        // ArduPilot Mega Vector/Matrix math Library
 #include <RC_Channel.h>     // RC Channel Library
-#include "AP_Motors_Multirotor.h"
+#include "AP_MotorsMulticopter.h"
 
 // tail servo uses channel 7
 #define AP_MOTORS_CH_TRI_YAW    CH_7
 
 /// @class      AP_MotorsTri
-class AP_MotorsTri : public AP_Motors_Multirotor {
+class AP_MotorsTri : public AP_MotorsMulticopter {
 public:
 
     /// Constructor
     AP_MotorsTri(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
-        AP_Motors_Multirotor(loop_rate, speed_hz)
+        AP_MotorsMulticopter(loop_rate, speed_hz)
     {
         AP_Param::setup_object_defaults(this, var_info);
     };