diff --git a/libraries/AP_Motors/AP_MotorsCoax.cpp b/libraries/AP_Motors/AP_MotorsCoax.cpp
index 953f661abb..c59c97b357 100644
--- a/libraries/AP_Motors/AP_MotorsCoax.cpp
+++ b/libraries/AP_Motors/AP_MotorsCoax.cpp
@@ -122,8 +122,8 @@ void AP_MotorsCoax::output_to_motors()
             rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_pitch_radio_passthrough, _servo2));
             rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(_roll_radio_passthrough, _servo3));
             rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(_pitch_radio_passthrough, _servo4));
-            rc_write(AP_MOTORS_MOT_5, get_pwm_min());
-            rc_write(AP_MOTORS_MOT_6, get_pwm_min());
+            rc_write(AP_MOTORS_MOT_5, get_pwm_output_min());
+            rc_write(AP_MOTORS_MOT_6, get_pwm_output_min());
             hal.rcout->push();
             break;
         case SPIN_WHEN_ARMED:
@@ -133,8 +133,8 @@ void AP_MotorsCoax::output_to_motors()
             rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_throttle_low_end_pct * _actuator_out[1], _servo2));
             rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(_throttle_low_end_pct * _actuator_out[2], _servo3));
             rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(_throttle_low_end_pct * _actuator_out[3], _servo4));
-            rc_write(AP_MOTORS_MOT_5, constrain_int16(get_pwm_min() + _throttle_low_end_pct * _min_throttle, get_pwm_min(), get_pwm_min() + _min_throttle));
-            rc_write(AP_MOTORS_MOT_6, constrain_int16(get_pwm_min() + _throttle_low_end_pct * _min_throttle, get_pwm_min(), get_pwm_min() + _min_throttle));
+            rc_write(AP_MOTORS_MOT_5, constrain_int16(get_pwm_output_min() + _throttle_low_end_pct * _min_throttle, get_pwm_output_min(), get_pwm_output_min() + _min_throttle));
+            rc_write(AP_MOTORS_MOT_6, constrain_int16(get_pwm_output_min() + _throttle_low_end_pct * _min_throttle, get_pwm_output_min(), get_pwm_output_min() + _min_throttle));
             hal.rcout->push();
             break;
         case SPOOL_UP:
diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp
index fc581ba71b..e71f8ff420 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp
@@ -94,7 +94,7 @@ void AP_MotorsMatrix::output_to_motors()
             // set motor output based on thrust requests
             for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
                 if (motor_enabled[i]) {
-                    motor_out[i] = get_pwm_min();
+                    motor_out[i] = get_pwm_output_min();
                 }
             }
             break;
@@ -102,7 +102,7 @@ void AP_MotorsMatrix::output_to_motors()
             // sends output to motors when armed but not flying
             for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
                 if (motor_enabled[i]) {
-                    motor_out[i] = constrain_int16(get_pwm_min() + _throttle_low_end_pct * _min_throttle, get_pwm_min(), get_pwm_min() + _min_throttle);
+                    motor_out[i] = constrain_int16(get_pwm_output_min() + _throttle_low_end_pct * _min_throttle, get_pwm_output_min(), get_pwm_output_min() + _min_throttle);
                 }
             }
             break;
diff --git a/libraries/AP_Motors/AP_MotorsMulticopter.cpp b/libraries/AP_Motors/AP_MotorsMulticopter.cpp
index 1e3beadaa9..c5cd4593c8 100644
--- a/libraries/AP_Motors/AP_MotorsMulticopter.cpp
+++ b/libraries/AP_Motors/AP_MotorsMulticopter.cpp
@@ -328,12 +328,12 @@ float AP_MotorsMulticopter::get_compensation_gain() const
 
 int16_t AP_MotorsMulticopter::calc_thrust_to_pwm(float thrust_in) const
 {
-    return constrain_int16((get_pwm_min() + _min_throttle + apply_thrust_curve_and_volt_scaling(thrust_in) *
-            ( get_pwm_max() - (get_pwm_min() + _min_throttle))), get_pwm_min() + _min_throttle, get_pwm_max());
+    return constrain_int16((get_pwm_output_min() + _min_throttle + apply_thrust_curve_and_volt_scaling(thrust_in) *
+            (get_pwm_output_max() - (get_pwm_output_min() + _min_throttle))), get_pwm_output_min() + _min_throttle, get_pwm_output_max());
 }
 
 // get minimum or maximum pwm value that can be output to motors
-int16_t AP_MotorsMulticopter::get_pwm_min() const
+int16_t AP_MotorsMulticopter::get_pwm_output_min() const
 {
     // return _pwm_min if both PWM_MIN and PWM_MAX parameters are defined and valid
     if ((_pwm_min > 0) && (_pwm_max > 0) && (_pwm_max > _pwm_min)) {
@@ -343,7 +343,7 @@ int16_t AP_MotorsMulticopter::get_pwm_min() const
 }
 
 // get maximum pwm value that can be output to motors
-int16_t AP_MotorsMulticopter::get_pwm_max() const
+int16_t AP_MotorsMulticopter::get_pwm_output_max() const
 {
     // return _pwm_max if both PWM_MIN and PWM_MAX parameters are defined and valid
     if ((_pwm_min > 0) && (_pwm_max > 0) && (_pwm_max > _pwm_min)) {
@@ -362,7 +362,7 @@ void AP_MotorsMulticopter::set_throttle_range(uint16_t min_throttle, int16_t rad
         _throttle_radio_max = radio_max;
     }
     // update _min_throttle
-    _min_throttle = (float)min_throttle * ((get_pwm_max() - get_pwm_min()) / 1000.0f);
+    _min_throttle = (float)min_throttle * ((get_pwm_output_max() - get_pwm_output_min()) / 1000.0f);
 }
 
 void AP_MotorsMulticopter::output_logic()
@@ -527,11 +527,11 @@ void AP_MotorsMulticopter::output_logic()
 }
 
 // passes throttle directly to all motors for ESC calibration.
-//   throttle_input is in the range of 0 ~ 1 where 0 will send get_pwm_min() and 1 will send get_pwm_max()
+//   throttle_input is in the range of 0 ~ 1 where 0 will send get_pwm_output_min() and 1 will send get_pwm_output_max()
 void AP_MotorsMulticopter::set_throttle_passthrough_for_esc_calibration(float throttle_input)
 {
     if (armed()) {
-        uint16_t pwm_out = get_pwm_min() + constrain_float(throttle_input, 0.0f, 1.0f) * (get_pwm_max() - get_pwm_min());
+        uint16_t pwm_out = get_pwm_output_min() + constrain_float(throttle_input, 0.0f, 1.0f) * (get_pwm_output_max() - get_pwm_output_min());
         // send the pilot's input directly to each enabled motor
         hal.rcout->cork();
         for (uint16_t i=0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
@@ -555,7 +555,7 @@ void AP_MotorsMulticopter::output_motor_mask(float thrust, uint8_t mask)
             if (mask & (1U<<i)) {
                 motor_out = calc_thrust_to_pwm(thrust);
             } else {
-                motor_out = get_pwm_min();
+                motor_out = get_pwm_output_min();
             }
             rc_write(i, motor_out);
         }
diff --git a/libraries/AP_Motors/AP_MotorsMulticopter.h b/libraries/AP_Motors/AP_MotorsMulticopter.h
index 529db13570..c1202f5120 100644
--- a/libraries/AP_Motors/AP_MotorsMulticopter.h
+++ b/libraries/AP_Motors/AP_MotorsMulticopter.h
@@ -78,7 +78,7 @@ public:
     void                output_logic();
 
     // passes throttle directly to all motors for ESC calibration.
-    //   throttle_input is in the range of 0 ~ 1 where 0 will send get_pwm_min() and 1 will send get_pwm_max()
+    //   throttle_input is in the range of 0 ~ 1 where 0 will send get_pwm_output_min() and 1 will send get_pwm_output_max()
     void                set_throttle_passthrough_for_esc_calibration(float throttle_input);
 
     // get_lift_max - get maximum lift ratio - for logging purposes only
@@ -143,8 +143,8 @@ protected:
     int16_t             calc_thrust_to_pwm(float thrust_in) const;
 
     // get minimum or maximum pwm value that can be output to motors
-    int16_t             get_pwm_min() const;
-    int16_t             get_pwm_max() const;
+    int16_t             get_pwm_output_min() const;
+    int16_t             get_pwm_output_max() const;
 
     // apply any thrust compensation for the frame
     virtual void        thrust_compensation(void) {}
diff --git a/libraries/AP_Motors/AP_MotorsSingle.cpp b/libraries/AP_Motors/AP_MotorsSingle.cpp
index 41876c297e..5b774dbede 100644
--- a/libraries/AP_Motors/AP_MotorsSingle.cpp
+++ b/libraries/AP_Motors/AP_MotorsSingle.cpp
@@ -125,8 +125,8 @@ void AP_MotorsSingle::output_to_motors()
             rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_pitch_radio_passthrough+_yaw_radio_passthrough, _servo2));
             rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(-_roll_radio_passthrough+_yaw_radio_passthrough, _servo3));
             rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(-_pitch_radio_passthrough+_yaw_radio_passthrough, _servo4));
-            rc_write(AP_MOTORS_MOT_5, get_pwm_min());
-            rc_write(AP_MOTORS_MOT_6, get_pwm_min());
+            rc_write(AP_MOTORS_MOT_5, get_pwm_output_min());
+            rc_write(AP_MOTORS_MOT_6, get_pwm_output_min());
             hal.rcout->push();
             break;
         case SPIN_WHEN_ARMED:
@@ -136,8 +136,8 @@ void AP_MotorsSingle::output_to_motors()
             rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_throttle_low_end_pct * _actuator_out[1], _servo2));
             rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(_throttle_low_end_pct * _actuator_out[2], _servo3));
             rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(_throttle_low_end_pct * _actuator_out[3], _servo4));
-            rc_write(AP_MOTORS_MOT_5, constrain_int16(get_pwm_min() + _throttle_low_end_pct * _min_throttle, get_pwm_min(), get_pwm_min() + _min_throttle));
-            rc_write(AP_MOTORS_MOT_6, constrain_int16(get_pwm_min() + _throttle_low_end_pct * _min_throttle, get_pwm_min(), get_pwm_min() + _min_throttle));
+            rc_write(AP_MOTORS_MOT_5, constrain_int16(get_pwm_output_min() + _throttle_low_end_pct * _min_throttle, get_pwm_output_min(), get_pwm_output_min() + _min_throttle));
+            rc_write(AP_MOTORS_MOT_6, constrain_int16(get_pwm_output_min() + _throttle_low_end_pct * _min_throttle, get_pwm_output_min(), get_pwm_output_min() + _min_throttle));
             hal.rcout->push();
             break;
         case SPOOL_UP:
diff --git a/libraries/AP_Motors/AP_MotorsTri.cpp b/libraries/AP_Motors/AP_MotorsTri.cpp
index 2a3844e8c1..ff4c0d02f3 100644
--- a/libraries/AP_Motors/AP_MotorsTri.cpp
+++ b/libraries/AP_Motors/AP_MotorsTri.cpp
@@ -128,18 +128,18 @@ void AP_MotorsTri::output_to_motors()
         case SHUT_DOWN:
             // sends minimum values out to the motors
             hal.rcout->cork();
-            rc_write(AP_MOTORS_MOT_1, get_pwm_min());
-            rc_write(AP_MOTORS_MOT_2, get_pwm_min());
-            rc_write(AP_MOTORS_MOT_4, get_pwm_min());
+            rc_write(AP_MOTORS_MOT_1, get_pwm_output_min());
+            rc_write(AP_MOTORS_MOT_2, get_pwm_output_min());
+            rc_write(AP_MOTORS_MOT_4, get_pwm_output_min());
             rc_write(AP_MOTORS_CH_TRI_YAW, _yaw_servo_trim);
             hal.rcout->push();
             break;
         case SPIN_WHEN_ARMED:
             // sends output to motors when armed but not flying
             hal.rcout->cork();
-            rc_write(AP_MOTORS_MOT_1, constrain_int16(get_pwm_min() + _throttle_low_end_pct * _min_throttle, get_pwm_min(), get_pwm_min() + _min_throttle));
-            rc_write(AP_MOTORS_MOT_2, constrain_int16(get_pwm_min() + _throttle_low_end_pct * _min_throttle, get_pwm_min(), get_pwm_min() + _min_throttle));
-            rc_write(AP_MOTORS_MOT_4, constrain_int16(get_pwm_min() + _throttle_low_end_pct * _min_throttle, get_pwm_min(), get_pwm_min() + _min_throttle));
+            rc_write(AP_MOTORS_MOT_1, constrain_int16(get_pwm_output_min() + _throttle_low_end_pct * _min_throttle, get_pwm_output_min(), get_pwm_output_min() + _min_throttle));
+            rc_write(AP_MOTORS_MOT_2, constrain_int16(get_pwm_output_min() + _throttle_low_end_pct * _min_throttle, get_pwm_output_min(), get_pwm_output_min() + _min_throttle));
+            rc_write(AP_MOTORS_MOT_4, constrain_int16(get_pwm_output_min() + _throttle_low_end_pct * _min_throttle, get_pwm_output_min(), get_pwm_output_min() + _min_throttle));
             rc_write(AP_MOTORS_CH_TRI_YAW, _yaw_servo_trim);
             hal.rcout->push();
             break;