ArduCopter motors_tri: rewrite CH_ macros with MOT_ macros

* Third Tricopter motor was on CH_4, so it is called MOT_4. This
  will be changed in a subsequent commit.

ArduCopter/motors_tri.pde

@@ -4,7 +4,7 @@
 static void init_motors_out()
 {
 	#if INSTANT_PWM == 0
-    APM_RC.SetFastOutputChannels( _BV(CH_1) | _BV(CH_2) | _BV(CH_4) );
+    APM_RC.SetFastOutputChannels( _BV(MOT_1) | _BV(MOT_2) | _BV(MOT_4) );
 	#endif
 }
 
@@ -28,50 +28,50 @@ static void output_motors_armed()
 	int pitch_out 		= g.rc_2.pwm_out / 2;
 
 	//left front
-	motor_out[CH_2]		= g.rc_3.radio_out + roll_out + pitch_out;
+	motor_out[MOT_2]		= g.rc_3.radio_out + roll_out + pitch_out;
 	//right front
-	motor_out[CH_1]		= g.rc_3.radio_out - roll_out + pitch_out;
+	motor_out[MOT_1]		= g.rc_3.radio_out - roll_out + pitch_out;
 	// rear
-	motor_out[CH_4] 	= g.rc_3.radio_out - g.rc_2.pwm_out;
+	motor_out[MOT_4] 	= g.rc_3.radio_out - g.rc_2.pwm_out;
 
-	//motor_out[CH_4]		+= (float)(abs(g.rc_4.control_in)) * .013;
+	//motor_out[MOT_4]		+= (float)(abs(g.rc_4.control_in)) * .013;
 
 	// Tridge's stability patch
-	if (motor_out[CH_1] > out_max) {
+	if (motor_out[MOT_1] > out_max) {
-		motor_out[CH_2] -= (motor_out[CH_1] - out_max) >> 1;
+		motor_out[MOT_2] -= (motor_out[MOT_1] - out_max) >> 1;
-		motor_out[CH_4] -= (motor_out[CH_1] - out_max) >> 1;
+		motor_out[MOT_4] -= (motor_out[MOT_1] - out_max) >> 1;
-		motor_out[CH_1] = out_max;
+		motor_out[MOT_1] = out_max;
 	}
 
-	if (motor_out[CH_2] > out_max) {
+	if (motor_out[MOT_2] > out_max) {
-		motor_out[CH_1] -= (motor_out[CH_2] - out_max) >> 1;
+		motor_out[MOT_1] -= (motor_out[MOT_2] - out_max) >> 1;
-		motor_out[CH_4] -= (motor_out[CH_2] - out_max) >> 1;
+		motor_out[MOT_4] -= (motor_out[MOT_2] - out_max) >> 1;
-		motor_out[CH_2] = out_max;
+		motor_out[MOT_2] = out_max;
 	}
 
-	if (motor_out[CH_4] > out_max) {
+	if (motor_out[MOT_4] > out_max) {
-		motor_out[CH_1] -= (motor_out[CH_4] - out_max) >> 1;
+		motor_out[MOT_1] -= (motor_out[MOT_4] - out_max) >> 1;
-		motor_out[CH_2] -= (motor_out[CH_4] - out_max) >> 1;
+		motor_out[MOT_2] -= (motor_out[MOT_4] - out_max) >> 1;
-		motor_out[CH_4] = out_max;
+		motor_out[MOT_4] = out_max;
 	}
 
 	// limit output so motors don't stop
-	motor_out[CH_1]		= max(motor_out[CH_1], 	out_min);
+	motor_out[MOT_1]		= max(motor_out[MOT_1], 	out_min);
-	motor_out[CH_2]		= max(motor_out[CH_2], 	out_min);
+	motor_out[MOT_2]		= max(motor_out[MOT_2], 	out_min);
-	motor_out[CH_4] 	= max(motor_out[CH_4], 	out_min);
+	motor_out[MOT_4] 	= max(motor_out[MOT_4], 	out_min);
 
 	#if CUT_MOTORS == ENABLED
 	// if we are not sending a throttle output, we cut the motors
 	if(g.rc_3.servo_out == 0){
-		motor_out[CH_1]		= g.rc_3.radio_min;
+		motor_out[MOT_1]		= g.rc_3.radio_min;
-		motor_out[CH_2]		= g.rc_3.radio_min;
+		motor_out[MOT_2]		= g.rc_3.radio_min;
-		motor_out[CH_4] 	= g.rc_3.radio_min;
+		motor_out[MOT_4] 	= g.rc_3.radio_min;
 	}
 	#endif
 
-	APM_RC.OutputCh(CH_1, motor_out[CH_1]);
+	APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
-	APM_RC.OutputCh(CH_2, motor_out[CH_2]);
+	APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
-	APM_RC.OutputCh(CH_4, motor_out[CH_4]);
+	APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
 
 	#if INSTANT_PWM == 1
 	// InstantPWM
@@ -94,33 +94,33 @@ static void output_motors_disarmed()
 	}
 
 	// Send commands to motors
-	APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
+	APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
-	APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
+	APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
-	APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
+	APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
 }
 
 static void output_motor_test()
 {
-	motor_out[CH_1] = g.rc_3.radio_min;
+	motor_out[MOT_1] = g.rc_3.radio_min;
-	motor_out[CH_2] = g.rc_3.radio_min;
+	motor_out[MOT_2] = g.rc_3.radio_min;
-	motor_out[CH_4] = g.rc_3.radio_min;
+	motor_out[MOT_4] = g.rc_3.radio_min;
 
 
 	if(g.rc_1.control_in > 3000){	// right
-		motor_out[CH_1] += 100;
+		motor_out[MOT_1] += 100;
 	}
 
 	if(g.rc_1.control_in < -3000){	// left
-		motor_out[CH_2] += 100;
+		motor_out[MOT_2] += 100;
 	}
 
 	if(g.rc_2.control_in > 3000){	// back
-		motor_out[CH_4] += 100;
+		motor_out[MOT_4] += 100;
 	}
 
-	APM_RC.OutputCh(CH_1, motor_out[CH_1]);
+	APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
-	APM_RC.OutputCh(CH_2, motor_out[CH_2]);
+	APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
-	APM_RC.OutputCh(CH_4, motor_out[CH_4]);
+	APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
 }
 
 #endif