Copter: RCMAP Fix, remove RC_Channel references

from AP_Motors objects.  And a few function renaming to follow changes in AP_Motors.  Also add new throttle channel setter functionality.
Remove RC7 object from Tricopter.  Add special Tricopter param handling.

ArduCopter/ArduCopter.pde

@@ -428,15 +428,15 @@ static struct {
 #endif
 
 #if FRAME_CONFIG == HELI_FRAME  // helicopter constructor requires more arguments
-static MOTOR_CLASS motors(*channel_roll, *channel_pitch, *channel_throttle, *channel_yaw, g.rc_7, g.rc_8, g.heli_servo_1, g.heli_servo_2, g.heli_servo_3, g.heli_servo_4, MAIN_LOOP_RATE);
+static MOTOR_CLASS motors(g.rc_7, g.rc_8, g.heli_servo_1, g.heli_servo_2, g.heli_servo_3, g.heli_servo_4, MAIN_LOOP_RATE);
 #elif FRAME_CONFIG == TRI_FRAME  // tri constructor requires additional rc_7 argument to allow tail servo reversing
-static MOTOR_CLASS motors(*channel_roll, *channel_pitch, *channel_throttle, *channel_yaw, g.rc_7, MAIN_LOOP_RATE);
+static MOTOR_CLASS motors(MAIN_LOOP_RATE);
 #elif FRAME_CONFIG == SINGLE_FRAME  // single constructor requires extra servos for flaps
-static MOTOR_CLASS motors(*channel_roll, *channel_pitch, *channel_throttle, *channel_yaw, g.single_servo_1, g.single_servo_2, g.single_servo_3, g.single_servo_4, MAIN_LOOP_RATE);
+static MOTOR_CLASS motors(g.single_servo_1, g.single_servo_2, g.single_servo_3, g.single_servo_4, MAIN_LOOP_RATE);
 #elif FRAME_CONFIG == COAX_FRAME  // single constructor requires extra servos for flaps
-static MOTOR_CLASS motors(*channel_roll, *channel_pitch, *channel_throttle, *channel_yaw, g.single_servo_1, g.single_servo_2, MAIN_LOOP_RATE);
+static MOTOR_CLASS motors(g.single_servo_1, g.single_servo_2, MAIN_LOOP_RATE);
 #else
-static MOTOR_CLASS motors(*channel_roll, *channel_pitch, *channel_throttle, *channel_yaw, MAIN_LOOP_RATE);
+static MOTOR_CLASS motors(MAIN_LOOP_RATE);
 #endif
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -1065,6 +1065,9 @@ static void one_hz_loop()
 
         // check the user hasn't updated the frame orientation
         motors.set_frame_orientation(g.frame_orientation);
+
+        // set all throttle channel settings
+        motors.set_throttle_range(g.throttle_min, channel_throttle->radio_min, channel_throttle->radio_max);
     }
 
     // update assigned functions and enable auxiliar servos

ArduCopter/Log.pde

@@ -411,16 +411,16 @@ static void Log_Write_Rate()
         time_ms         : hal.scheduler->millis(),
         control_roll    : (float)rate_targets.x,
         roll            : (float)(ahrs.get_gyro().x * AC_ATTITUDE_CONTROL_DEGX100),
-        roll_out        : (float)(motors.get_roll()),
+        roll_out        : (motors.get_roll()),
         control_pitch   : (float)rate_targets.y,
         pitch           : (float)(ahrs.get_gyro().y * AC_ATTITUDE_CONTROL_DEGX100),
-        pitch_out       : (float)(motors.get_pitch()),
+        pitch_out       : (motors.get_pitch()),
         control_yaw     : (float)rate_targets.z,
         yaw             : (float)(ahrs.get_gyro().z * AC_ATTITUDE_CONTROL_DEGX100),
-        yaw_out         : (float)(motors.get_yaw()),
+        yaw_out         : (motors.get_yaw()),
         control_accel   : (float)accel_target.z,
         accel           : (float)(-(ahrs.get_accel_ef_blended().z + GRAVITY_MSS) * 100.0f),
-        accel_out       : (float)(motors.get_throttle_out())
+        accel_out       : (motors.get_throttle())
     };
     DataFlash.WriteBlock(&pkt_rate, sizeof(pkt_rate));
 }

ArduCopter/Parameters.pde

@@ -976,6 +976,11 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Path: ../libraries/AP_Motors/AP_MotorsCoax.cpp
     GOBJECT(motors, "MOT_",           AP_MotorsCoax),
 
+#elif FRAME_CONFIG == TRI_FRAME
+    // @Group: MOT_
+    // @Path: ../libraries/AP_Motors/AP_MotorsTri.cpp
+    GOBJECT(motors, "MOT_",           AP_MotorsTri),
+
 #else
     // @Group: MOT_
     // @Path: ../libraries/AP_Motors/AP_Motors_Class.cpp

ArduCopter/land_detector.pde

@@ -46,7 +46,7 @@ static void update_land_detector()
         // we've sensed movement up or down so reset land_detector
         land_detector = 0;
         // if throttle output is high then clear landing flag
-        if (motors.get_throttle_out() > get_non_takeoff_throttle()) {
+        if (motors.get_throttle() > get_non_takeoff_throttle()) {
             set_land_complete(false);
         }
     }

ArduCopter/radio.pde

@@ -54,7 +54,7 @@ static void init_rc_out()
     motors.set_update_rate(g.rc_speed);
     motors.set_frame_orientation(g.frame_orientation);
     motors.Init();                                              // motor initialisation
-    motors.set_min_throttle(g.throttle_min);
+    motors.set_throttle_range(g.throttle_min, channel_throttle->radio_min, channel_throttle->radio_max);
 
     for(uint8_t i = 0; i < 5; i++) {
         delay(20);