Copter: remove tradheli swash, yaw and rsc servos

These are all created within the AP_MotorsSingle class now except for servo_rsc which was unused

ArduCopter/Copter.cpp

@@ -30,7 +30,7 @@ Copter::Copter(void) :
             FUNCTOR_BIND_MEMBER(&Copter::exit_mission, void)),
     control_mode(STABILIZE),
 #if FRAME_CONFIG == HELI_FRAME  // helicopter constructor requires more arguments
-    motors(g.rc_7, g.heli_servo_rsc, g.heli_servo_1, g.heli_servo_2, g.heli_servo_3, g.heli_servo_4, MAIN_LOOP_RATE),
+    motors(g.rc_7, MAIN_LOOP_RATE),
 #else
     motors(MAIN_LOOP_RATE),
 #endif

ArduCopter/Parameters.cpp

@@ -532,24 +532,6 @@ const AP_Param::Info Copter::var_info[] = {
     // @Values: 0:Disabled, 1:Enabled
     // @User: Advanced
     GSCALAR(fs_crash_check, "FS_CRASH_CHECK",    1),
-    
-#if FRAME_CONFIG ==     HELI_FRAME
-    // @Group: HS1_
-    // @Path: ../libraries/RC_Channel/RC_Channel.cpp
-    GGROUP(heli_servo_1,    "HS1_", RC_Channel),
-    // @Group: HS2_
-    // @Path: ../libraries/RC_Channel/RC_Channel.cpp
-    GGROUP(heli_servo_2,    "HS2_", RC_Channel),
-    // @Group: HS3_
-    // @Path: ../libraries/RC_Channel/RC_Channel.cpp
-    GGROUP(heli_servo_3,    "HS3_", RC_Channel),
-    // @Group: HS4_
-    // @Path: ../libraries/RC_Channel/RC_Channel.cpp
-    GGROUP(heli_servo_4,    "HS4_", RC_Channel),
-    // @Group: H_RSC_
-    // @Path: ../libraries/RC_Channel/RC_Channel.cpp
-    GGROUP(heli_servo_rsc,    "H_RSC_", RC_Channel),
-#endif
 
     // RC channel
     //-----------

ArduCopter/Parameters.h

@@ -161,16 +161,16 @@ public:
         //
         // 80: Heli
         //
-        k_param_heli_servo_1 = 80,
-        k_param_heli_servo_2,
-        k_param_heli_servo_3,
-        k_param_heli_servo_4,
+        k_param_heli_servo_1 = 80,  // remove
+        k_param_heli_servo_2,       // remove
+        k_param_heli_servo_3,       // remove
+        k_param_heli_servo_4,       // remove
         k_param_heli_pitch_ff,      // remove
         k_param_heli_roll_ff,       // remove
         k_param_heli_yaw_ff,        // remove
         k_param_heli_stab_col_min,  // remove
         k_param_heli_stab_col_max,  // remove
-        k_param_heli_servo_rsc,     // 89 = full!
+        k_param_heli_servo_rsc,     // 89 = full! - remove
 
         //
         // 90: misc2
@@ -453,12 +453,6 @@ public:
 
     AP_Int8         throw_motor_start;
 
-#if FRAME_CONFIG ==     HELI_FRAME
-    // Heli
-    RC_Channel      heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4;     // servos for swash plate and tail
-    RC_Channel      heli_servo_rsc;                                             // servo for rotor speed control output
-#endif
-
     // RC channels
     RC_Channel              rc_1;
     RC_Channel              rc_2;
@@ -515,14 +509,6 @@ public:
     // above.
     Parameters() :
 
-#if FRAME_CONFIG ==     HELI_FRAME
-        heli_servo_1        (CH_1),
-        heli_servo_2        (CH_2),
-        heli_servo_3        (CH_3),
-        heli_servo_4        (CH_4),
-        heli_servo_rsc      (CH_8),
-#endif
-
         rc_1                (CH_1),
         rc_2                (CH_2),
         rc_3                (CH_3),