diff --git a/ArduCopter/heli.pde b/ArduCopter/heli.pde
deleted file mode 100644
index 7940adee98..0000000000
--- a/ArduCopter/heli.pde
+++ /dev/null
@@ -1,334 +0,0 @@
-/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-#if FRAME_CONFIG ==	HELI_FRAME
-
-#define HELI_SERVO_AVERAGING_DIGITAL 0  // 250Hz
-#define HELI_SERVO_AVERAGING_ANALOG  2  // 125Hz
-
-static bool heli_swash_initialised = false;
-static int heli_throttle_mid = 0;  // throttle mid point in pwm form (i.e. 0 ~ 1000)
-static float heli_collective_scalar = 1;  // throttle scalar to convert pwm form (i.e. 0 ~ 1000) passed in to actual servo range (i.e 1250~1750 would be 500)
-
-// heli_servo_averaging:
-//   0 or 1 = no averaging, 250hz
-//   2 = average two samples, 125hz
-//   3 = averaging three samples = 83.3 hz
-//   4 = averaging four samples = 62.5 hz
-//   5 = averaging 5 samples = 50hz
-//   digital = 0 / 250hz, analog = 2 / 83.3
-
-// reset swash for maximum movements - used for set-up
-static void heli_reset_swash()
-{
-	// free up servo ranges
-	g.heli_servo_1.radio_min = 1000;
-	g.heli_servo_1.radio_max = 2000;
-	g.heli_servo_2.radio_min = 1000;
-	g.heli_servo_2.radio_max = 2000;
-	g.heli_servo_3.radio_min = 1000;
-	g.heli_servo_3.radio_max = 2000;
-
-	if (!g.heli_h1_swash_enabled){			//CCPM Swashplate, perform servo control mixing
-		
-		// roll factors
-		heli_rollFactor[CH_1] = cos(radians(g.heli_servo1_pos + 90 - g.heli_phase_angle));
-		heli_rollFactor[CH_2] = cos(radians(g.heli_servo2_pos + 90 - g.heli_phase_angle));
-		heli_rollFactor[CH_3] = cos(radians(g.heli_servo3_pos + 90 - g.heli_phase_angle));
-				
-		// pitch factors
-		heli_pitchFactor[CH_1] = cos(radians(g.heli_servo1_pos - g.heli_phase_angle));
-		heli_pitchFactor[CH_2] = cos(radians(g.heli_servo2_pos - g.heli_phase_angle));
-		heli_pitchFactor[CH_3] = cos(radians(g.heli_servo3_pos - g.heli_phase_angle));
-		
-		// collective factors
-		heli_collectiveFactor[CH_1] = 1;
-		heli_collectiveFactor[CH_2] = 1;
-		heli_collectiveFactor[CH_3] = 1;
-		
-	}else{  								//H1 Swashplate, keep servo outputs seperated
-
-		// roll factors
-		heli_rollFactor[CH_1] = 1;
-		heli_rollFactor[CH_2] = 0;
-		heli_rollFactor[CH_3] = 0;
-	
-		// pitch factors
-		heli_pitchFactor[CH_1] = 0;
-		heli_pitchFactor[CH_2] = 1;
-		heli_pitchFactor[CH_3] = 0;
-		
-		// collective factors
-		heli_collectiveFactor[CH_1] = 0;
-		heli_collectiveFactor[CH_2] = 0;
-		heli_collectiveFactor[CH_3] = 1;
-	}
-
-	// set throttle scaling
-	heli_collective_scalar = ((float)(g.rc_3.radio_max - g.rc_3.radio_min))/1000.0;
-
-	// we must be in set-up mode so mark swash as uninitialised
-	heli_swash_initialised = false;
-}
-
-// initialise the swash
-static void heli_init_swash()
-{
-    int i;
-
-	// swash servo initialisation
-	g.heli_servo_1.set_range(0,1000);
-	g.heli_servo_2.set_range(0,1000);
-	g.heli_servo_3.set_range(0,1000);
-	g.heli_servo_4.set_angle(4500);
-
-	// ensure g.heli_coll values are reasonable
-	if( g.heli_collective_min >= g.heli_collective_max ) {
-	    g.heli_collective_min = 1000;
-		g.heli_collective_max = 2000;
-	}
-	g.heli_collective_mid = constrain(g.heli_collective_mid, g.heli_collective_min, g.heli_collective_max);
-
-	// calculate throttle mid point
-	heli_throttle_mid = ((float)(g.heli_collective_mid-g.heli_collective_min))/((float)(g.heli_collective_max-g.heli_collective_min))*1000.0;
-
-	// determine scalar throttle input
-	heli_collective_scalar = ((float)(g.heli_collective_max-g.heli_collective_min))/1000.0;
-
-	if (!g.heli_h1_swash_enabled){			//CCPM Swashplate, perform control mixing
-		
-		// roll factors
-		heli_rollFactor[CH_1] = cos(radians(g.heli_servo1_pos + 90 - g.heli_phase_angle));
-		heli_rollFactor[CH_2] = cos(radians(g.heli_servo2_pos + 90 - g.heli_phase_angle));
-		heli_rollFactor[CH_3] = cos(radians(g.heli_servo3_pos + 90 - g.heli_phase_angle));
-				
-		// pitch factors
-		heli_pitchFactor[CH_1] = cos(radians(g.heli_servo1_pos - g.heli_phase_angle));
-		heli_pitchFactor[CH_2] = cos(radians(g.heli_servo2_pos - g.heli_phase_angle));
-		heli_pitchFactor[CH_3] = cos(radians(g.heli_servo3_pos - g.heli_phase_angle));
-		
-		// collective factors
-		heli_collectiveFactor[CH_1] = 1;
-		heli_collectiveFactor[CH_2] = 1;
-		heli_collectiveFactor[CH_3] = 1;
-		
-	}else{  								//H1 Swashplate, keep servo outputs seperated
-
-		// roll factors
-		heli_rollFactor[CH_1] = 1;
-		heli_rollFactor[CH_2] = 0;
-		heli_rollFactor[CH_3] = 0;
-	
-		// pitch factors
-		heli_pitchFactor[CH_1] = 0;
-		heli_pitchFactor[CH_2] = 1;
-		heli_pitchFactor[CH_3] = 0;
-		
-		// collective factors
-		heli_collectiveFactor[CH_1] = 0;
-		heli_collectiveFactor[CH_2] = 0;
-		heli_collectiveFactor[CH_3] = 1;
-	}
-
-	// servo min/max values
-	g.heli_servo_1.radio_min = 1000;
-	g.heli_servo_1.radio_max = 2000;
-	g.heli_servo_2.radio_min = 1000;
-	g.heli_servo_2.radio_max = 2000;
-	g.heli_servo_3.radio_min = 1000;
-	g.heli_servo_3.radio_max = 2000;
-
-	// reset the servo averaging
-	for( i=0; i<=3; i++ )
-	    heli_servo_out[i] = 0;
-
-    // double check heli_servo_averaging is reasonable
-	if( g.heli_servo_averaging < 0 || g.heli_servo_averaging > 5 ) {
-	    g.heli_servo_averaging = 0;
-		g.heli_servo_averaging.save();
-	}
-
-	// mark swash as initialised
-	heli_swash_initialised = true;
-}
-
-static void heli_move_servos_to_mid()
-{
-    // call multiple times to force through the servo averaging
-    for( int i=0; i<5; i++ ) {
-		heli_move_swash(0,0,500,0);
-		delay(20);
-	}
-}
-
-//
-// heli_move_swash - moves swash plate to attitude of parameters passed in
-//                 - expected ranges:
-//                       roll : -4500 ~ 4500
-//                       pitch: -4500 ~ 4500
-//                       collective: 0 ~ 1000
-//                       yaw:   -4500 ~ 4500
-//
-static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_out)
-{
-	int yaw_offset = 0;
-	int coll_out_scaled;
-
-	if( g.heli_servo_manual == 1 ) {  // are we in manual servo mode? (i.e. swash set-up mode)?
-		// check if we need to freeup the swash
-		if( heli_swash_initialised ) {
-			heli_reset_swash();
-		}
-		coll_out_scaled = coll_out * heli_collective_scalar + g.rc_3.radio_min - 1000;
-	}else{  // regular flight mode
-
-		// check if we need to reinitialise the swash
-		if( !heli_swash_initialised ) {
-			heli_init_swash();
-		}
-
-	    // ensure values are acceptable:
-		roll_out = constrain(roll_out, (int)-g.heli_roll_max, (int)g.heli_roll_max);
-		pitch_out = constrain(pitch_out, (int)-g.heli_pitch_max, (int)g.heli_pitch_max);
-		coll_out = constrain(coll_out, 0, 1000);
-		coll_out_scaled = coll_out * heli_collective_scalar + g.heli_collective_min - 1000;
-		
-		// rescale roll_out and pitch-out into the min and max ranges to provide linear motion 
-		// across the input range instead of stopping when the input hits the constrain value
-		// these calculations are based on an assumption of the user specified roll_max and pitch_max 
-		// coming into this equation at 4500 or less, and based on the original assumption of the  
-		// total g.heli_servo_x.servo_out range being -4500 to 4500.
-		roll_out = (-g.heli_roll_max + (float)( 2 * g.heli_roll_max * (roll_out + 4500.0)/9000.0));
-		pitch_out = (-g.heli_pitch_max + (float)(2 * g.heli_pitch_max * (pitch_out + 4500.0)/9000.0));
-		
-
-		// rudder feed forward based on collective
-		#if HIL_MODE == HIL_MODE_DISABLED  // don't do rudder feed forward in simulator
-		if( !g.heli_ext_gyro_enabled ) {
-			yaw_offset = g.heli_collective_yaw_effect * abs(coll_out_scaled - heli_throttle_mid);
-		}
-		#endif
-	}
-
-	// swashplate servos
-	g.heli_servo_1.servo_out = (heli_rollFactor[CH_1] * roll_out + heli_pitchFactor[CH_1] * pitch_out)/10 + heli_collectiveFactor[CH_1] * coll_out_scaled + (g.heli_servo_1.radio_trim-1500) + g.heli_h1_swash_enabled * 500;
-	g.heli_servo_2.servo_out = (heli_rollFactor[CH_2] * roll_out + heli_pitchFactor[CH_2] * pitch_out)/10 + heli_collectiveFactor[CH_2] * coll_out_scaled + (g.heli_servo_2.radio_trim-1500) + g.heli_h1_swash_enabled * 500;
-	g.heli_servo_3.servo_out = (heli_rollFactor[CH_3] * roll_out + heli_pitchFactor[CH_3] * pitch_out)/10 + heli_collectiveFactor[CH_3] * coll_out_scaled + (g.heli_servo_3.radio_trim-1500);
-	g.heli_servo_4.servo_out = yaw_out + yaw_offset;
-
-	// use servo_out to calculate pwm_out and radio_out
-	g.heli_servo_1.calc_pwm();
-	g.heli_servo_2.calc_pwm();
-	g.heli_servo_3.calc_pwm();
-	g.heli_servo_4.calc_pwm();
-
-	// add the servo values to the averaging
-	heli_servo_out[0] += g.heli_servo_1.radio_out;
-	heli_servo_out[1] += g.heli_servo_2.radio_out;
-	heli_servo_out[2] += g.heli_servo_3.radio_out;
-	heli_servo_out[3] += g.heli_servo_4.radio_out;
-	heli_servo_out_count++;
-
-	// is it time to move the servos?
-	if( heli_servo_out_count >= g.heli_servo_averaging ) {
-
-	    // average the values if necessary
-	    if( g.heli_servo_averaging >= 2 ) {
-		    heli_servo_out[0] /= g.heli_servo_averaging;
-			heli_servo_out[1] /= g.heli_servo_averaging;
-			heli_servo_out[2] /= g.heli_servo_averaging;
-			heli_servo_out[3] /= g.heli_servo_averaging;
-		}
-
-		// actually move the servos
-		APM_RC.OutputCh(CH_1, heli_servo_out[0]);
-		APM_RC.OutputCh(CH_2, heli_servo_out[1]);
-		APM_RC.OutputCh(CH_3, heli_servo_out[2]);
-		APM_RC.OutputCh(CH_4, heli_servo_out[3]);
-
-		// output gyro value
-		if( g.heli_ext_gyro_enabled ) {
-			APM_RC.OutputCh(CH_7, g.heli_ext_gyro_gain);
-		}
-
-		#if INSTANT_PWM == 1
-		// InstantPWM
-		APM_RC.Force_Out0_Out1();
-		APM_RC.Force_Out2_Out3();
-		#endif
-
-		// reset the averaging
-		heli_servo_out_count = 0;
-		heli_servo_out[0] = 0;
-		heli_servo_out[1] = 0;
-		heli_servo_out[2] = 0;
-		heli_servo_out[3] = 0;
-	}
-}
-
-static void init_motors_out()
-{
-	#if INSTANT_PWM == 0
-    APM_RC.SetFastOutputChannels( _BV(CH_1) | _BV(CH_2) | _BV(CH_3) | _BV(CH_4), g.rc_speed );
-	#endif
-}
-
-static void motors_output_enable()
-{
-  APM_RC.enable_out(CH_1);
-  APM_RC.enable_out(CH_2);
-  APM_RC.enable_out(CH_3);
-  APM_RC.enable_out(CH_4);
-  APM_RC.enable_out(CH_5);
-  APM_RC.enable_out(CH_6);
-  APM_RC.enable_out(CH_7);
-  APM_RC.enable_out(CH_8);
-}
-
-// these are not really motors, they're servos but we don't rename the function because it fits with the rest of the code better
-static void output_motors_armed()
-{
-    // if manual override (i.e. when setting up swash), pass pilot commands straight through to swash
-    if( g.heli_servo_manual == 1 ) {
-		g.rc_1.servo_out = g.rc_1.control_in;
-		g.rc_2.servo_out = g.rc_2.control_in;
-		g.rc_3.servo_out = g.rc_3.control_in;
-		g.rc_4.servo_out = g.rc_4.control_in;
-	}
-
-    //static int counter = 0;
-	g.rc_1.calc_pwm();
-	g.rc_2.calc_pwm();
-	g.rc_3.calc_pwm();
-	g.rc_4.calc_pwm();
-
-	heli_move_swash( g.rc_1.servo_out, g.rc_2.servo_out, g.rc_3.servo_out, g.rc_4.servo_out );
-}
-
-// for helis - armed or disarmed we allow servos to move
-static void output_motors_disarmed()
-{
-	if(g.rc_3.control_in > 0){
-		// we have pushed up the throttle, remove safety
-		motor_auto_armed = true;
-	}
-
-	output_motors_armed();
-}
-
-static void output_motor_test()
-{
-}
-
-// heli_angle_boost - adds a boost depending on roll/pitch values
-// equivalent of quad's angle_boost function
-// throttle value should be 0 ~ 1000
-static int16_t heli_get_angle_boost(int throttle)
-{
-    float angle_boost_factor = cos_pitch_x * cos_roll_x;
-	angle_boost_factor = 1.0 - constrain(angle_boost_factor, .5, 1.0);
-	int throttle_above_mid = max(throttle - heli_throttle_mid,0);
-	return throttle + throttle_above_mid*angle_boost_factor;
-
-}
-
-#endif // HELI_FRAME
diff --git a/ArduCopter/motors_hexa.pde b/ArduCopter/motors_hexa.pde
deleted file mode 100644
index 10eae0b73b..0000000000
--- a/ArduCopter/motors_hexa.pde
+++ /dev/null
@@ -1,241 +0,0 @@
-/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-#if FRAME_CONFIG ==	HEXA_FRAME
-
-static void init_motors_out()
-{
-	#if INSTANT_PWM == 0
-		APM_RC.SetFastOutputChannels(_BV(MOT_1) | _BV(MOT_2) | _BV(MOT_3) | _BV(MOT_4)
-                                     | _BV(MOT_5) | _BV(MOT_6), g.rc_speed);
-	#endif
-}
-
-static void motors_output_enable()
-{
-	APM_RC.enable_out(MOT_1);
-	APM_RC.enable_out(MOT_2);
-	APM_RC.enable_out(MOT_3);
-	APM_RC.enable_out(MOT_4);
-	APM_RC.enable_out(MOT_5);
-	APM_RC.enable_out(MOT_6);
-}
-
-static void output_motors_armed()
-{
-	int roll_out, pitch_out;
-	int out_min = g.rc_3.radio_min;
-	int out_max = g.rc_3.radio_max;
-
-	// Throttle is 0 to 1000 only
-	g.rc_3.servo_out 	= constrain(g.rc_3.servo_out, 0, MAXIMUM_THROTTLE);
-
-	if(g.rc_3.servo_out > 0)
-		out_min = g.rc_3.radio_min + MINIMUM_THROTTLE;
-
-	g.rc_1.calc_pwm();
-	g.rc_2.calc_pwm();
-	g.rc_3.calc_pwm();
-	g.rc_4.calc_pwm();
-
-	if(g.frame_orientation == X_FRAME){
-		roll_out 	 	= g.rc_1.pwm_out / 2;
-		pitch_out 	 	= (float)g.rc_2.pwm_out * .866;
-
-		//left side
-		motor_out[MOT_2]		= g.rc_3.radio_out + g.rc_1.pwm_out;		// CCW Middle
-		motor_out[MOT_3]		= g.rc_3.radio_out + roll_out + pitch_out;	// CW Front
-		motor_out[MOT_6]		 = g.rc_3.radio_out + roll_out - pitch_out;	// CW Back
-
-		//right side
-		motor_out[MOT_1]		= g.rc_3.radio_out - g.rc_1.pwm_out;		// CW Middle
-		motor_out[MOT_5] 	= g.rc_3.radio_out - roll_out + pitch_out;	// CCW Front
-		motor_out[MOT_4] 	= g.rc_3.radio_out - roll_out - pitch_out;	// CCW Back
-
-	}else{
-		roll_out 	 	= (float)g.rc_1.pwm_out * .866;
-		pitch_out 	 	= g.rc_2.pwm_out / 2;
-
-		//Front side
-		motor_out[MOT_1]		= g.rc_3.radio_out + g.rc_2.pwm_out;		// CW	 FRONT
-		motor_out[MOT_5] 	= g.rc_3.radio_out + roll_out + pitch_out;	// CCW	 FRONT LEFT
-		motor_out[MOT_4] 	= g.rc_3.radio_out - roll_out + pitch_out;	// CCW	 FRONT RIGHT
-
-		//Back side
-		motor_out[MOT_2]		= g.rc_3.radio_out - g.rc_2.pwm_out;		// CCW	BACK
-		motor_out[MOT_3]		= g.rc_3.radio_out + roll_out - pitch_out;	// CW, 	BACK LEFT
-		motor_out[MOT_6]		= g.rc_3.radio_out - roll_out - pitch_out;	// CW	BACK RIGHT
-	}
-
-	// Yaw
-	motor_out[MOT_2]		+= g.rc_4.pwm_out;	// CCW
-	motor_out[MOT_5]		+= g.rc_4.pwm_out;	// CCW
-	motor_out[MOT_4] 	+= g.rc_4.pwm_out;	// CCW
-
-	motor_out[MOT_3]		-= g.rc_4.pwm_out;	// CW
-	motor_out[MOT_1]		-= g.rc_4.pwm_out;	// CW
-	motor_out[MOT_6]		-= g.rc_4.pwm_out;	// CW
-
-
-	// Tridge's stability patch
-		for (int m = 1; m <= 6; m++){
-			int c = ch_of_mot(m);
-			int c_opp = ch_of_mot(((m-1)^1)+1); // ((m-1)^1)+1 is the opposite motor. c_opp is channel of opposite motor.
-			if(motor_out[c] > out_max){
-				motor_out[c_opp] -= motor_out[c] - out_max;
-				motor_out[c] = out_max;
-			}
-		}
-
-	// limit output so motors don't stop
-	motor_out[MOT_1] = max(motor_out[MOT_1],	out_min);
-	motor_out[MOT_2] = max(motor_out[MOT_2],	out_min);
-	motor_out[MOT_3] = max(motor_out[MOT_3],	out_min);
-	motor_out[MOT_4] = max(motor_out[MOT_4],	out_min);
-	motor_out[MOT_5] = max(motor_out[MOT_5],	out_min);
-	motor_out[MOT_6] = max(motor_out[MOT_6],	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[MOT_1]		= g.rc_3.radio_min;
-		motor_out[MOT_2]		= g.rc_3.radio_min;
-		motor_out[MOT_3]		= g.rc_3.radio_min;
-		motor_out[MOT_4] 	= g.rc_3.radio_min;
-		motor_out[MOT_5] 	= g.rc_3.radio_min;
-		motor_out[MOT_6] 	= g.rc_3.radio_min;
-	}
-	#endif
-
-	// this filter slows the acceleration of motors vs the deceleration
-	// Idea by Denny Rowland to help with his Yaw issue
-	for(int8_t m = 1; m <= 6; m++){
-			int c = ch_of_mot(m);
-		if(motor_filtered[c] < motor_out[c]){
-			motor_filtered[c] = (motor_out[c] + motor_filtered[c]) / 2;
-		}else{
-			// don't filter
-			motor_filtered[c] = motor_out[c];
-		}
-	}
-
-	APM_RC.OutputCh(MOT_1, motor_filtered[MOT_1]);
-	APM_RC.OutputCh(MOT_2, motor_filtered[MOT_2]);
-	APM_RC.OutputCh(MOT_3, motor_filtered[MOT_3]);
-	APM_RC.OutputCh(MOT_4, motor_filtered[MOT_4]);
-	APM_RC.OutputCh(MOT_5, motor_filtered[MOT_5]);
-	APM_RC.OutputCh(MOT_6, motor_filtered[MOT_6]);
-
-	#if INSTANT_PWM == 1
-	// InstantPWM
-	APM_RC.Force_Out0_Out1();
-	APM_RC.Force_Out2_Out3();
-	APM_RC.Force_Out6_Out7();
-	#endif
-
-}
-
-static void output_motors_disarmed()
-{
-	if(g.rc_3.control_in > 0){
-		// we have pushed up the throttle
-		// remove safety
-		motor_auto_armed = true;
-	}
-
-	// fill the motor_out[] array for HIL use
-	for (unsigned char i = 0; i < 8; i++){
-		motor_out[i] = g.rc_3.radio_min;
-	}
-
-	// Send commands to motors
-	APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
-}
-
-static void output_motor_test()
-{
-	motors_output_enable();
-
-	motor_out[MOT_1] = g.rc_3.radio_min;
-	motor_out[MOT_2] = g.rc_3.radio_min;
-	motor_out[MOT_3] = g.rc_3.radio_min;
-	motor_out[MOT_4] = g.rc_3.radio_min;
-	motor_out[MOT_5] = g.rc_3.radio_min;
-	motor_out[MOT_6] = g.rc_3.radio_min;
-
-	if(g.frame_orientation == X_FRAME){
-		 APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
-		 delay(4000);
-		 APM_RC.OutputCh(MOT_5, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_4, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_6, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_2, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_3, g.rc_3.radio_min + 100);
-		 delay(300);
-
-	} else { /* PLUS_FRAME */
-		 APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
-		 delay(4000);
-		 APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_4, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_6, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_2, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_3, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_5, g.rc_3.radio_min + 100);
-		 delay(300);
-		}
-
-	APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
-	APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
-	APM_RC.OutputCh(MOT_3, motor_out[MOT_3]);
-	APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
-	APM_RC.OutputCh(MOT_5, motor_out[MOT_5]);
-	APM_RC.OutputCh(MOT_6, motor_out[MOT_6]);
-}
-
-#endif
diff --git a/ArduCopter/motors_octa.pde b/ArduCopter/motors_octa.pde
deleted file mode 100644
index 8f552333d2..0000000000
--- a/ArduCopter/motors_octa.pde
+++ /dev/null
@@ -1,327 +0,0 @@
-/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-#if FRAME_CONFIG ==	OCTA_FRAME
-
-static void init_motors_out()
-{
-	#if INSTANT_PWM == 0
-	APM_RC.SetFastOutputChannels(_BV(MOT_1) | _BV(MOT_2) | _BV(MOT_3) | _BV(MOT_4)
-                                 | _BV(MOT_5) | _BV(MOT_6) | _BV(MOT_7) | _BV(MOT_8),
-                                 g.rc_speed);
-	#endif
-}
-
-static void motors_output_enable()
-{
-	APM_RC.enable_out(MOT_1);
-	APM_RC.enable_out(MOT_2);
-	APM_RC.enable_out(MOT_3);
-	APM_RC.enable_out(MOT_4);
-	APM_RC.enable_out(MOT_5);
-	APM_RC.enable_out(MOT_6);
-	APM_RC.enable_out(MOT_7);
-	APM_RC.enable_out(MOT_8);
-}
-
-static void output_motors_armed()
-{
-	int roll_out, pitch_out;
-	int out_min = g.rc_3.radio_min;
-	int out_max = g.rc_3.radio_max;
-
-	// Throttle is 0 to 1000 only
-	g.rc_3.servo_out 	= constrain(g.rc_3.servo_out, 0, MAXIMUM_THROTTLE);
-
-	if(g.rc_3.servo_out > 0)
-		out_min = g.rc_3.radio_min + MINIMUM_THROTTLE;
-
-	g.rc_1.calc_pwm();
-	g.rc_2.calc_pwm();
-	g.rc_3.calc_pwm();
-	g.rc_4.calc_pwm();
-
-	if(g.frame_orientation == X_FRAME){
-		roll_out 	 		= (float)g.rc_1.pwm_out * 0.4;
-		pitch_out 	 		= (float)g.rc_2.pwm_out * 0.4;
-
-		//Front side
-		motor_out[MOT_1]	= g.rc_3.radio_out + g.rc_2.pwm_out - roll_out;	 // CW	 FRONT RIGHT
-		motor_out[MOT_5] 	= g.rc_3.radio_out + g.rc_2.pwm_out + roll_out;	 // CCW	 FRONT LEFT
-
-		//Back side
-		motor_out[MOT_2]	= g.rc_3.radio_out - g.rc_2.pwm_out + roll_out;	 // CW	 BACK LEFT
-		motor_out[MOT_4]	= g.rc_3.radio_out - g.rc_2.pwm_out - roll_out;	 // CCW	BACK RIGHT
-
-		//Left side
-		motor_out[MOT_7] 	= g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out; // CW	 LEFT FRONT
-		motor_out[MOT_6] 	= g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out; // CCW	 LEFT BACK
-
-		//Right side
-		motor_out[MOT_8] 	= g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out; // CW	 RIGHT BACK
-		motor_out[MOT_3]	= g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out; // CCW	 RIGHT FRONT
-
-	}else if(g.frame_orientation == PLUS_FRAME){
-		roll_out 			= (float)g.rc_1.pwm_out * 0.71;
-		pitch_out 	 		= (float)g.rc_2.pwm_out * 0.71;
-
-		//Front side
-		motor_out[MOT_1]	= g.rc_3.radio_out + g.rc_2.pwm_out;		// CW	FRONT
-		motor_out[MOT_3] 	= g.rc_3.radio_out - roll_out + pitch_out;	// CCW	FRONT RIGHT
-		motor_out[MOT_5] 	= g.rc_3.radio_out + roll_out + pitch_out;	// CCW	FRONT LEFT
-
-		//Left side
-		motor_out[MOT_7] 	= g.rc_3.radio_out + g.rc_1.pwm_out;		// CW	LEFT
-
-		//Right side
-		motor_out[MOT_8] 	= g.rc_3.radio_out - g.rc_1.pwm_out;		// CW	RIGHT
-
-		//Back side
-		motor_out[MOT_2]	= g.rc_3.radio_out - g.rc_2.pwm_out;		// CW	BACK
-		motor_out[MOT_4]	= g.rc_3.radio_out - roll_out - pitch_out;	// CCW 	BACK RIGHT
-		motor_out[MOT_6]	= g.rc_3.radio_out + roll_out - pitch_out;	// CCW	BACK LEFT
-
-	}else if(g.frame_orientation == V_FRAME){
-
-		int roll_out2, pitch_out2;
-		int roll_out3, pitch_out3;
-		int roll_out4, pitch_out4;
-
-		roll_out 	 	= g.rc_1.pwm_out;
-		pitch_out 	 	= g.rc_2.pwm_out;
-		roll_out2 	 	= (float)g.rc_1.pwm_out * 0.833;
-		pitch_out2 	 	= (float)g.rc_2.pwm_out * 0.34;
-		roll_out3 	 	= (float)g.rc_1.pwm_out * 0.666;
-		pitch_out3 	 	= (float)g.rc_2.pwm_out * 0.32;
-		roll_out4 	 	= g.rc_1.pwm_out / 2;
-		pitch_out4 	 	= (float)g.rc_2.pwm_out * 0.98;
-
-		//Front side
-		motor_out[MOT_7]	= g.rc_3.radio_out + g.rc_2.pwm_out - roll_out;		// CW	FRONT RIGHT
-		motor_out[MOT_5] 	= g.rc_3.radio_out + g.rc_2.pwm_out + roll_out;		// CCW FRONT LEFT
-
-		//Left side
-		motor_out[MOT_1] 	= g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out2; 	// CW	LEFT FRONT
-		motor_out[MOT_3] 	= g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out3;	// CCW LEFT BACK
-
-		//Right side
-		motor_out[MOT_2] 	= g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out3;	// CW	RIGHT BACK
-		motor_out[MOT_6]		= g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out2;	// CCW RIGHT FRONT
-
-		//Back side
-		motor_out[MOT_8]	= g.rc_3.radio_out - g.rc_2.pwm_out + roll_out4;	// CW	BACK LEFT
-		motor_out[MOT_4]	= g.rc_3.radio_out - g.rc_2.pwm_out - roll_out4;	// CCW BACK RIGHT
-
-	}
-
-	// Yaw
-	motor_out[MOT_3]	+= g.rc_4.pwm_out;	// CCW
-	motor_out[MOT_4]	+= g.rc_4.pwm_out;	// CCW
-	motor_out[MOT_5] 	+= g.rc_4.pwm_out;	// CCW
-	motor_out[MOT_6] 	+= g.rc_4.pwm_out;	// CCW
-
-	motor_out[MOT_1]	-= g.rc_4.pwm_out;	// CW
-	motor_out[MOT_2]	-= g.rc_4.pwm_out;	// CW
-	motor_out[MOT_7]	-= g.rc_4.pwm_out;	// CW
-	motor_out[MOT_8]	-= g.rc_4.pwm_out;	// CW
-
-
-	// TODO add stability patch
-	motor_out[MOT_1]		= min(motor_out[MOT_1], out_max);
-	motor_out[MOT_2]		= min(motor_out[MOT_2], out_max);
-	motor_out[MOT_3]		= min(motor_out[MOT_3], out_max);
-	motor_out[MOT_4]		= min(motor_out[MOT_4], out_max);
-	motor_out[MOT_5]		= min(motor_out[MOT_5],	out_max);
-	motor_out[MOT_6]		= min(motor_out[MOT_6],	out_max);
-	motor_out[MOT_7]		= min(motor_out[MOT_7], out_max);
-	motor_out[MOT_8] 		= min(motor_out[MOT_8], out_max);
-
-
-	// limit output so motors don't stop
-	motor_out[MOT_1]		= max(motor_out[MOT_1], out_min);
-	motor_out[MOT_2]		= max(motor_out[MOT_2], out_min);
-	motor_out[MOT_3]		= max(motor_out[MOT_3], out_min);
-	motor_out[MOT_4] 		= max(motor_out[MOT_4], out_min);
-	motor_out[MOT_5]		= max(motor_out[MOT_5], out_min);
-	motor_out[MOT_6]	 	= max(motor_out[MOT_6], out_min);
-	motor_out[MOT_7]		= max(motor_out[MOT_7], out_min);
-	motor_out[MOT_8] 		= max(motor_out[MOT_8], 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[MOT_1]	= g.rc_3.radio_min;
-		motor_out[MOT_2]	= g.rc_3.radio_min;
-		motor_out[MOT_3]	= g.rc_3.radio_min;
-		motor_out[MOT_4] 	= g.rc_3.radio_min;
-		motor_out[MOT_5] 	= g.rc_3.radio_min;
-		motor_out[MOT_6] 	= g.rc_3.radio_min;
-		motor_out[MOT_7] 	= g.rc_3.radio_min;
-		motor_out[MOT_8] 	= g.rc_3.radio_min;
-	}
-	#endif
-
-	// this filter slows the acceleration of motors vs the deceleration
-	// Idea by Denny Rowland to help with his Yaw issue
-	for(int8_t m = 1; m <= 8; m++){
-		int c = ch_of_mot(m);
-		if(motor_filtered[c] < motor_out[c]){
-			motor_filtered[c] = (motor_out[c] + motor_filtered[c]) / 2;
-		}else{
-			// don't filter
-			motor_filtered[c] = motor_out[c];
-		}
-	}
-
-	APM_RC.OutputCh(MOT_1, motor_filtered[MOT_1]);
-	APM_RC.OutputCh(MOT_2, motor_filtered[MOT_2]);
-	APM_RC.OutputCh(MOT_3, motor_filtered[MOT_3]);
-	APM_RC.OutputCh(MOT_4, motor_filtered[MOT_4]);
-	APM_RC.OutputCh(MOT_5, motor_filtered[MOT_5]);
-	APM_RC.OutputCh(MOT_6, motor_filtered[MOT_6]);
-	APM_RC.OutputCh(MOT_7, motor_filtered[MOT_7]);
-	APM_RC.OutputCh(MOT_8, motor_filtered[MOT_8]);
-
-	#if INSTANT_PWM == 1
-	// InstantPWM
-	APM_RC.Force_Out0_Out1();
-	APM_RC.Force_Out2_Out3();
-	APM_RC.Force_Out6_Out7();
-	#endif
-}
-
-static void output_motors_disarmed()
-{
-	if(g.rc_3.control_in > 0){
-		// we have pushed up the throttle
-		// remove safety
-		motor_auto_armed = true;
-	}
-
-	// fill the motor_out[] array for HIL use
-	for (unsigned char i = 0; i < 11; i++){
-		motor_out[i] = g.rc_3.radio_min;
-	}
-
-	// Send commands to motors
-	APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_8, g.rc_3.radio_min);
-
-	APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_7, g.rc_3.radio_min);
-}
-
-static void output_motor_test()
-{
-
-		motor_out[MOT_1] = g.rc_3.radio_min;
-		motor_out[MOT_2] = g.rc_3.radio_min;
-		motor_out[MOT_3] = g.rc_3.radio_min;
-		motor_out[MOT_4] = g.rc_3.radio_min;
-		motor_out[MOT_5] = g.rc_3.radio_min;
-		motor_out[MOT_6] = g.rc_3.radio_min;
-		motor_out[MOT_7] = g.rc_3.radio_min;
-		motor_out[MOT_8] = g.rc_3.radio_min;
-
-
-	if(g.frame_orientation == X_FRAME || g.frame_orientation == PLUS_FRAME){
-		 APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
-		 delay(4000);
-		 APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_3, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_8, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_8, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_4, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_2, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_6, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_7, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_7, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_5, g.rc_3.radio_min + 100);
-		 delay(300);
-	}
-
-	if(g.frame_orientation == V_FRAME){
-		 APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
-		 delay(4000);
-		 APM_RC.OutputCh(MOT_7, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_7, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_6, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_2, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_4, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_8, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_8, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_3, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_5, g.rc_3.radio_min + 100);
-		 delay(300);
-	}
-
-	APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
-	APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
-	APM_RC.OutputCh(MOT_3, motor_out[MOT_3]);
-	APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
-	APM_RC.OutputCh(MOT_5, motor_out[MOT_5]);
-	APM_RC.OutputCh(MOT_6, motor_out[MOT_6]);
-	APM_RC.OutputCh(MOT_7, motor_out[MOT_7]);
-	APM_RC.OutputCh(MOT_8, motor_out[MOT_8]);
-
-}
-
-#endif
-
diff --git a/ArduCopter/motors_octa_quad.pde b/ArduCopter/motors_octa_quad.pde
deleted file mode 100644
index 3032c6d82a..0000000000
--- a/ArduCopter/motors_octa_quad.pde
+++ /dev/null
@@ -1,227 +0,0 @@
-/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-#if FRAME_CONFIG ==	OCTA_QUAD_FRAME
-
-static void init_motors_out()
-{
-	#if INSTANT_PWM == 0
-	APM_RC.SetFastOutputChannels(_BV(MOT_1) | _BV(MOT_2) | _BV(MOT_3) | _BV(MOT_4)
-                                 | _BV(MOT_5) | _BV(MOT_6) | _BV(MOT_7) | _BV(MOT_8),
-                                 g.rc_speed);
-	#endif
-}
-
-static void motors_output_enable()
-{
-	APM_RC.enable_out(MOT_1);
-	APM_RC.enable_out(MOT_2);
-	APM_RC.enable_out(MOT_3);
-	APM_RC.enable_out(MOT_4);
-	APM_RC.enable_out(MOT_5);
-	APM_RC.enable_out(MOT_6);
-	APM_RC.enable_out(MOT_7);
-	APM_RC.enable_out(MOT_8);
-}
-
-static void output_motors_armed()
-{
-	int roll_out, pitch_out;
-	int out_min = g.rc_3.radio_min;
-	int out_max = g.rc_3.radio_max;
-
-	// Throttle is 0 to 1000 only
-	g.rc_3.servo_out 	= constrain(g.rc_3.servo_out, 0, MAXIMUM_THROTTLE);
-
-	if(g.rc_3.servo_out > 0)
-		out_min = g.rc_3.radio_min + MINIMUM_THROTTLE;
-
-	g.rc_1.calc_pwm();
-	g.rc_2.calc_pwm();
-	g.rc_3.calc_pwm();
-	g.rc_4.calc_pwm();
-
-	if(g.frame_orientation == X_FRAME){
-		roll_out		= (float)g.rc_1.pwm_out * 0.707;
-		pitch_out		= (float)g.rc_2.pwm_out * 0.707;
-
-		motor_out[MOT_1]		= ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out);		//	APM2 OUT1	APM1 OUT1	 FRONT RIGHT	CCW		TOP
-		motor_out[MOT_2]		= ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out);		//	APM2 OUT2	APM1 OUT2	 FRONT LEFT		CW		TOP
-		motor_out[MOT_3]		= ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out - pitch_out);		//	APM2 OUT3	APM1 OUT3	 BACK LEFT		CCW		TOP
-		motor_out[MOT_4]		= ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out - pitch_out);		//	APM2 OUT4	APM1 OUT4	 BACK RIGHT		CW		TOP
-		motor_out[MOT_5]		=	g.rc_3.radio_out + roll_out + pitch_out;								//	APM2 OUT5	APM1 OUT7	 FRONT LEFT		CCW		BOTTOM
-		motor_out[MOT_6]		=	g.rc_3.radio_out - roll_out + pitch_out;								//	APM2 OUT6	APM1 OUT8	 FRONT RIGHT	CW		BOTTOM
-		motor_out[MOT_7]		=	g.rc_3.radio_out - roll_out - pitch_out;								//	APM2 OUT7	APM1 OUT10	 BACK RIGHT		CCW		BOTTOM
-		motor_out[MOT_8]		=	g.rc_3.radio_out + roll_out - pitch_out;								//	APM2 OUT8	APM1 OUT11	 BACK LEFT		CW		BOTTOM
-	}else{
-		roll_out 	 			= g.rc_1.pwm_out;
-		pitch_out 	 			= g.rc_2.pwm_out;
-
-		motor_out[MOT_1]		= (g.rc_3.radio_out * g.top_bottom_ratio) + pitch_out;	// APM2 OUT1		APM1 OUT1		FRONT	CCW		TOP
-		motor_out[MOT_2]		= (g.rc_3.radio_out * g.top_bottom_ratio) + roll_out;	// APM2 OUT2		APM1 OUT2		LEFT	CW		TOP
-		motor_out[MOT_3]		= (g.rc_3.radio_out * g.top_bottom_ratio) - pitch_out;	// APM2 OUT3		APM1 OUT3		BACK	CCW		TOP
-		motor_out[MOT_4]		= (g.rc_3.radio_out * g.top_bottom_ratio) - roll_out;	// APM2 OUT4		APM1 OUT4		RIGHT	CW		TOP
-		motor_out[MOT_5]		= g.rc_3.radio_out + roll_out;							// APM2 OUT5		APM1 OUT7		LEFT	CCW		BOTTOM
-		motor_out[MOT_6]		= g.rc_3.radio_out + pitch_out;						// APM2 OUT6		APM1 OUT8		FRONT	CW		BOTTOM
-		motor_out[MOT_7]		= g.rc_3.radio_out - roll_out;							// APM2 OUT7		APM1 OUT10		RIGHT	CCW		BOTTOM
-		motor_out[MOT_8]		= g.rc_3.radio_out - pitch_out;						// APM2 OUT8		APM1 OUT11		BACK	CW		BOTTOM
-	}
-
-	// Yaw
-	motor_out[MOT_1]		+= g.rc_4.pwm_out;	// CCW
-	motor_out[MOT_3]		+= g.rc_4.pwm_out;	// CCW
-	motor_out[MOT_5]		+= g.rc_4.pwm_out;	// CCW
-	motor_out[MOT_7]		+= g.rc_4.pwm_out;	// CCW
-
-	motor_out[MOT_2]		-= g.rc_4.pwm_out;	// CW
-	motor_out[MOT_4]		-= g.rc_4.pwm_out;	// CW
-	motor_out[MOT_6]		-= g.rc_4.pwm_out;	// CW
-	motor_out[MOT_8]		-= g.rc_4.pwm_out;	// CW
-
-	// TODO add stability patch
-	motor_out[MOT_1]		= min(motor_out[MOT_1], out_max);
-	motor_out[MOT_2]		= min(motor_out[MOT_2], out_max);
-	motor_out[MOT_3]		= min(motor_out[MOT_3], out_max);
-	motor_out[MOT_4]		= min(motor_out[MOT_4], out_max);
-	motor_out[MOT_5]		= min(motor_out[MOT_5],	out_max);
-	motor_out[MOT_6]		= min(motor_out[MOT_6],	out_max);
-	motor_out[MOT_7]		= min(motor_out[MOT_7], out_max);
-	motor_out[MOT_8] 		= min(motor_out[MOT_8], out_max);
-
-	// limit output so motors don't stop
-	motor_out[MOT_1]		= max(motor_out[MOT_1], 	out_min);
-	motor_out[MOT_2]		= max(motor_out[MOT_2], 	out_min);
-	motor_out[MOT_3]		= max(motor_out[MOT_3], 	out_min);
-	motor_out[MOT_4] 		= max(motor_out[MOT_4], 	out_min);
-	motor_out[MOT_5]		= max(motor_out[MOT_5], 	out_min);
-	motor_out[MOT_6] 		= max(motor_out[MOT_6], 	out_min);
-	motor_out[MOT_7]		= max(motor_out[MOT_7], out_min);
-	motor_out[MOT_8] 		= max(motor_out[MOT_8], 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[MOT_1]	= g.rc_3.radio_min;
-		motor_out[MOT_2]	= g.rc_3.radio_min;
-		motor_out[MOT_3]	= g.rc_3.radio_min;
-		motor_out[MOT_4] 	= g.rc_3.radio_min;
-		motor_out[MOT_5] 	= g.rc_3.radio_min;
-		motor_out[MOT_6] 	= g.rc_3.radio_min;
-		motor_out[MOT_7] 	= g.rc_3.radio_min;
-		motor_out[MOT_8] 	= g.rc_3.radio_min;
-	}
-	#endif
-
-	// this filter slows the acceleration of motors vs the deceleration
-	// Idea by Denny Rowland to help with his Yaw issue
-	for(int8_t m = 1; m <= 8; m++){
-		int i = ch_of_mot(m);
-		if(motor_filtered[i] < motor_out[i]){
-			motor_filtered[i] = (motor_out[i] + motor_filtered[i]) / 2;
-		}else{
-			// don't filter
-			motor_filtered[i] = motor_out[i];
-		}
-	}
-
-	APM_RC.OutputCh(MOT_1, motor_filtered[MOT_1]);
-	APM_RC.OutputCh(MOT_2, motor_filtered[MOT_2]);
-	APM_RC.OutputCh(MOT_3, motor_filtered[MOT_3]);
-	APM_RC.OutputCh(MOT_4, motor_filtered[MOT_4]);
-	APM_RC.OutputCh(MOT_5, motor_filtered[MOT_5]);
-	APM_RC.OutputCh(MOT_6, motor_filtered[MOT_6]);
-	APM_RC.OutputCh(MOT_7, motor_filtered[MOT_7]);
-	APM_RC.OutputCh(MOT_8, motor_filtered[MOT_8]);
-
-	#if INSTANT_PWM == 1
-	// InstantPWM
-	APM_RC.Force_Out0_Out1();
-	APM_RC.Force_Out2_Out3();
-	APM_RC.Force_Out6_Out7();
-	#endif
-}
-
-static void output_motors_disarmed()
-{
-	if(g.rc_3.control_in > 0){
-		// we have pushed up the throttle
-		// remove safety
-		motor_auto_armed = true;
-	}
-
-	// fill the motor_out[] array for HIL use
-	for (unsigned char i = 0; i < 11; i++){
-		motor_out[i] = g.rc_3.radio_min;
-	}
-
-	// Send commands to motors
-	APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_7, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_8, g.rc_3.radio_min);
-}
-
-static void output_motor_test()
-{
-	motor_out[MOT_1] = g.rc_3.radio_min;
-	motor_out[MOT_2] = g.rc_3.radio_min;
-	motor_out[MOT_3] = g.rc_3.radio_min;
-	motor_out[MOT_4] = g.rc_3.radio_min;
-	motor_out[MOT_5] = g.rc_3.radio_min;
-	motor_out[MOT_6] = g.rc_3.radio_min;
-	motor_out[MOT_7] = g.rc_3.radio_min;
-	motor_out[MOT_8] = g.rc_3.radio_min;
-
-	APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
-	delay(5000);
-	APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100);
-	delay(300);
-
-	APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
-	delay(3000);
-	APM_RC.OutputCh(MOT_6, g.rc_3.radio_min + 100);
-	delay(300);
-
-	APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
-	delay(3000);
-	APM_RC.OutputCh(MOT_4, g.rc_3.radio_min + 100);
-	delay(300);
-
-	APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
-	delay(3000);
-	APM_RC.OutputCh(MOT_7, g.rc_3.radio_min + 100);
-	delay(300);
-
-	APM_RC.OutputCh(MOT_7, g.rc_3.radio_min);
-	delay(3000);
-	APM_RC.OutputCh(MOT_3, g.rc_3.radio_min + 100);
-	delay(300);
-
-	APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
-	delay(3000);
-	APM_RC.OutputCh(MOT_8, g.rc_3.radio_min + 100);
-	delay(300);
-
-	APM_RC.OutputCh(MOT_8, g.rc_3.radio_min);
-	delay(3000);
-	APM_RC.OutputCh(MOT_2, g.rc_3.radio_min + 100);
-	delay(300);
-
-	APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
-	delay(3000);
-	APM_RC.OutputCh(MOT_5, g.rc_3.radio_min + 100);
-	delay(300);
-
-	APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
-	APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
-	APM_RC.OutputCh(MOT_3, motor_out[MOT_3]);
-	APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
-	APM_RC.OutputCh(MOT_5, motor_out[MOT_5]);
-	APM_RC.OutputCh(MOT_6, motor_out[MOT_6]);
-	APM_RC.OutputCh(MOT_7, motor_out[MOT_7]);
-	APM_RC.OutputCh(MOT_8, motor_out[MOT_8]);
-}
-#endif
diff --git a/ArduCopter/motors_quad.pde b/ArduCopter/motors_quad.pde
deleted file mode 100644
index fc50996585..0000000000
--- a/ArduCopter/motors_quad.pde
+++ /dev/null
@@ -1,209 +0,0 @@
-/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-#if FRAME_CONFIG ==	QUAD_FRAME
-
-static void init_motors_out()
-{
-	#if INSTANT_PWM == 0
-	APM_RC.SetFastOutputChannels(_BV(MOT_1) | _BV(MOT_2) | _BV(MOT_3) | _BV(MOT_4),
-                                 g.rc_speed);
-	#endif
-}
-
-static void motors_output_enable()
-{
-	APM_RC.enable_out(MOT_1);
-	APM_RC.enable_out(MOT_2);
-	APM_RC.enable_out(MOT_3);
-	APM_RC.enable_out(MOT_4);
-}
-
-static void output_motors_armed()
-{
-	int roll_out, pitch_out;
-	int out_min = g.rc_3.radio_min;
-	int out_max = g.rc_3.radio_max;
-
-	// Throttle is 0 to 1000 only
-	g.rc_3.servo_out 	= constrain(g.rc_3.servo_out, 0, MAXIMUM_THROTTLE);
-
-	if(g.rc_3.servo_out > 0)
-		out_min = g.rc_3.radio_min + MINIMUM_THROTTLE;
-
-	g.rc_1.calc_pwm();
-	g.rc_2.calc_pwm();
-	g.rc_3.calc_pwm();
-	g.rc_4.calc_pwm();
-
-
-
-	if(g.frame_orientation == X_FRAME){
-		roll_out 	 	= (float)g.rc_1.pwm_out * 0.707;
-		pitch_out 	 	= (float)g.rc_2.pwm_out * 0.707;
-
-		// left
-		motor_out[MOT_3]	= g.rc_3.radio_out + roll_out + pitch_out;	// FRONT
-		motor_out[MOT_2]	= g.rc_3.radio_out + roll_out - pitch_out;	// BACK
-
-		// right
-		motor_out[MOT_1]	= g.rc_3.radio_out - roll_out + pitch_out;	// FRONT
-		motor_out[MOT_4] 	= g.rc_3.radio_out - roll_out - pitch_out;	// BACK
-
-	}else{
-
-		roll_out 	 	= g.rc_1.pwm_out;
-		pitch_out 	 	= g.rc_2.pwm_out;
-
-		// right motor
-		motor_out[MOT_1]	= g.rc_3.radio_out - roll_out;
-		// left motor
-		motor_out[MOT_2]	= g.rc_3.radio_out + roll_out;
-		// front motor
-		motor_out[MOT_3]	= g.rc_3.radio_out + pitch_out;
-		// back motor
-		motor_out[MOT_4] 	= g.rc_3.radio_out - pitch_out;
-	}
-
-	// Yaw input
-	motor_out[MOT_1]	+=	g.rc_4.pwm_out; 	// CCW
-	motor_out[MOT_2]	+=	g.rc_4.pwm_out; 	// CCW
-	motor_out[MOT_3]	-=	g.rc_4.pwm_out; 	// CW
-	motor_out[MOT_4] 	-=	g.rc_4.pwm_out; 	// CW
-
-    /* We need to clip motor output at out_max. When cipping a motors
-		 * output we also need to compensate for the instability by
-		 * lowering the opposite motor by the same proportion. This
-		 * ensures that we retain control when one or more of the motors
-		 * is at its maximum output
-		 */
-		for (int i = MOT_1; i <= MOT_4; i++){
-				if(motor_out[i] > out_max){
-		            // note that i^1 is the opposite motor
-					motor_out[i ^ 1] -= motor_out[i] - out_max;
-					motor_out[i] = out_max;
-				}
-		}
-
-	// limit output so motors don't stop
-	motor_out[MOT_1]	= max(motor_out[MOT_1], 	out_min);
-	motor_out[MOT_2]	= max(motor_out[MOT_2], 	out_min);
-	motor_out[MOT_3]	= max(motor_out[MOT_3], 	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[MOT_1]	= g.rc_3.radio_min;
-		motor_out[MOT_2]	= g.rc_3.radio_min;
-		motor_out[MOT_3]	= g.rc_3.radio_min;
-		motor_out[MOT_4] 	= g.rc_3.radio_min;
-	}
-	#endif
-
-	APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
-	APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
-	APM_RC.OutputCh(MOT_3, motor_out[MOT_3]);
-	APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
-
-
-	#if INSTANT_PWM == 1
-	// InstantPWM
-	APM_RC.Force_Out0_Out1();
-	APM_RC.Force_Out2_Out3();
-	#endif
-
-	//debug_motors();
-}
-
-static void output_motors_disarmed()
-{
-	if(g.rc_3.control_in > 0){
-		// we have pushed up the throttle
-		// remove safety
-		motor_auto_armed = true;
-	}
-
-	// fill the motor_out[] array for HIL use
-	for (unsigned char i = 0; i < 8; i++){
-		motor_out[i] = g.rc_3.radio_min;
-	}
-
-	// Send commands to motors
-	APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
-}
-
-/*
-//static void debug_motors()
-{
-	Serial.printf("1:%d\t2:%d\t3:%d\t4:%d\n",
-				motor_out[MOT_1],
-				motor_out[MOT_2],
-				motor_out[MOT_3],
-				motor_out[MOT_4]);
-}
-//*/
-
-static void output_motor_test()
-{
-	motor_out[MOT_1] = g.rc_3.radio_min;
-	motor_out[MOT_2] = g.rc_3.radio_min;
-	motor_out[MOT_3] = g.rc_3.radio_min;
-	motor_out[MOT_4] = g.rc_3.radio_min;
-
-
-	if(g.frame_orientation == X_FRAME){
-
-		 APM_RC.OutputCh(MOT_3, g.rc_2.radio_min);
-		 delay(4000);
-		 APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_4, g.rc_1.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_4, g.rc_1.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_2, g.rc_4.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_2, g.rc_4.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_3, g.rc_2.radio_min + 100);
-		 delay(300);
-
-	}else{
-
-		 APM_RC.OutputCh(MOT_2, g.rc_2.radio_min);
-		 delay(4000);
-		 APM_RC.OutputCh(MOT_3, g.rc_3.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_1, g.rc_1.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_1, g.rc_1.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_4, g.rc_4.radio_min + 100);
-		 delay(300);
-
-		 APM_RC.OutputCh(MOT_4, g.rc_4.radio_min);
-		 delay(2000);
-		 APM_RC.OutputCh(MOT_2, g.rc_2.radio_min + 100);
-		 delay(300);
-
-	}
-
-	APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
-	APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
-	APM_RC.OutputCh(MOT_3, motor_out[MOT_3]);
-	APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
-}
-
-#endif
diff --git a/ArduCopter/motors_tri.pde b/ArduCopter/motors_tri.pde
deleted file mode 100644
index 9371201557..0000000000
--- a/ArduCopter/motors_tri.pde
+++ /dev/null
@@ -1,137 +0,0 @@
-/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-#if FRAME_CONFIG ==	TRI_FRAME
-
-static void init_motors_out()
-{
-	#if INSTANT_PWM == 0
-    APM_RC.SetFastOutputChannels(_BV(MOT_1) | _BV(MOT_2) | _BV(MOT_4),
-                                 g.rc_speed);
-	#endif
-}
-
-static void motors_output_enable()
-{
-	APM_RC.enable_out(MOT_1);
-	APM_RC.enable_out(MOT_2);
-	APM_RC.enable_out(MOT_4);
-	APM_RC.enable_out(CH_TRI_YAW);
-}
-
-
-static void output_motors_armed()
-{
-	int out_min = g.rc_3.radio_min;
-	int out_max = g.rc_3.radio_max;
-
-	// Throttle is 0 to 1000 only
-	g.rc_3.servo_out 	= constrain(g.rc_3.servo_out, 0, MAXIMUM_THROTTLE);
-
-	if(g.rc_3.servo_out > 0)
-		out_min = g.rc_3.radio_min + MINIMUM_THROTTLE;
-
-	g.rc_1.calc_pwm();
-	g.rc_2.calc_pwm();
-	g.rc_3.calc_pwm();
-
-	int roll_out 		= (float)g.rc_1.pwm_out * .866;
-	int pitch_out 		= g.rc_2.pwm_out / 2;
-
-	//left front
-	motor_out[MOT_2]		= g.rc_3.radio_out + roll_out + pitch_out;
-	//right front
-	motor_out[MOT_1]		= g.rc_3.radio_out - roll_out + pitch_out;
-	// rear
-	motor_out[MOT_4] 	= g.rc_3.radio_out - g.rc_2.pwm_out;
-
-	//motor_out[MOT_4]		+= (float)(abs(g.rc_4.control_in)) * .013;
-
-	// Tridge's stability patch
-	if(motor_out[MOT_1] > out_max){
-		motor_out[MOT_2] -= (motor_out[MOT_1] - out_max) >> 1;
-		motor_out[MOT_4] -= (motor_out[MOT_1] - out_max) >> 1;
-		motor_out[MOT_1] = out_max;
-	}
-
-	if(motor_out[MOT_2] > out_max){
-		motor_out[MOT_1] -= (motor_out[MOT_2] - out_max) >> 1;
-		motor_out[MOT_4] -= (motor_out[MOT_2] - out_max) >> 1;
-		motor_out[MOT_2] = out_max;
-	}
-
-	if(motor_out[MOT_4] > out_max){
-		motor_out[MOT_1] -= (motor_out[MOT_4] - out_max) >> 1;
-		motor_out[MOT_2] -= (motor_out[MOT_4] - out_max) >> 1;
-		motor_out[MOT_4] = out_max;
-	}
-
-	// limit output so motors don't stop
-	motor_out[MOT_1]		= max(motor_out[MOT_1], 	out_min);
-	motor_out[MOT_2]		= max(motor_out[MOT_2], 	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[MOT_1]		= g.rc_3.radio_min;
-		motor_out[MOT_2]		= g.rc_3.radio_min;
-		motor_out[MOT_4] 	= g.rc_3.radio_min;
-	}
-	#endif
-
-	APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
-	APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
-	APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
-
-	#if INSTANT_PWM == 1
-	// InstantPWM
-	APM_RC.Force_Out0_Out1();
-	APM_RC.Force_Out2_Out3();
-	#endif
-}
-
-static void output_motors_disarmed()
-{
-	if(g.rc_3.control_in > 0){
-		// we have pushed up the throttle
-		// remove safety
-		motor_auto_armed = true;
-	}
-
-	// fill the motor_out[] array for HIL use
-	for (unsigned char i = 0; i < 8; i++){
-		motor_out[i] = g.rc_3.radio_min;
-	}
-
-	// Send commands to motors
-	APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
-}
-
-static void output_motor_test()
-{
-	motor_out[MOT_1] = g.rc_3.radio_min;
-	motor_out[MOT_2] = g.rc_3.radio_min;
-	motor_out[MOT_4] = g.rc_3.radio_min;
-
-	 APM_RC.OutputCh(MOT_2, g.rc_2.radio_min);
-	delay(4000);
-	APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100);
-	delay(300);
-
-	APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
-	delay(2000);
-	APM_RC.OutputCh(MOT_4, g.rc_1.radio_min + 100);
-	delay(300);
-
-	APM_RC.OutputCh(MOT_4, g.rc_1.radio_min);
-	delay(2000);
-	APM_RC.OutputCh(MOT_2, g.rc_4.radio_min + 100);
-	delay(300);
-
-	APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
-	APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
-	APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
-}
-
-#endif
diff --git a/ArduCopter/motors_y6.pde b/ArduCopter/motors_y6.pde
deleted file mode 100644
index a86d63ec6a..0000000000
--- a/ArduCopter/motors_y6.pde
+++ /dev/null
@@ -1,216 +0,0 @@
-/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-#if FRAME_CONFIG ==	Y6_FRAME
-
-#define YAW_DIRECTION 1
-
-static void init_motors_out()
-{
-	#if INSTANT_PWM == 0
-		APM_RC.SetFastOutputChannels(_BV(MOT_1) | _BV(MOT_2) | _BV(MOT_3) | _BV(MOT_4)
-                                     | _BV(MOT_5) | _BV(MOT_6),
-                                     g.rc_speed);
-	#endif
-}
-
-static void motors_output_enable()
-{
-	APM_RC.enable_out(MOT_1);
-	APM_RC.enable_out(MOT_2);
-	APM_RC.enable_out(MOT_3);
-	APM_RC.enable_out(MOT_4);
-	APM_RC.enable_out(MOT_5);
-	APM_RC.enable_out(MOT_6);
-}
-
-static void output_motors_armed()
-{
-	int out_min = g.rc_3.radio_min;
-	int out_max = g.rc_3.radio_max;
-
-	// Throttle is 0 to 1000 only
-	g.rc_3.servo_out 	= constrain(g.rc_3.servo_out, 0, MAXIMUM_THROTTLE);
-
-	if(g.rc_3.servo_out > 0)
-		out_min = g.rc_3.radio_min + MINIMUM_THROTTLE;
-
-	g.rc_1.calc_pwm();
-	g.rc_2.calc_pwm();
-	g.rc_3.calc_pwm();
-	g.rc_4.calc_pwm();
-
-	// Multi-Wii Mix
-	//left
-	motor_out[MOT_2] 		= (g.rc_3.radio_out * g.top_bottom_ratio) + g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // LEFT	 TOP - CW
-	motor_out[MOT_3] 		= g.rc_3.radio_out + g.rc_1.pwm_out	+ (g.rc_2.pwm_out * 2 / 3); // BOTTOM_LEFT - CCW
-	//right
-	motor_out[MOT_5] 		= (g.rc_3.radio_out * g.top_bottom_ratio) - g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // RIGHT TOP - CW
-	motor_out[MOT_1] 		= g.rc_3.radio_out - g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // BOTTOM_RIGHT - CCW
-	//back
-	motor_out[MOT_6] 		= (g.rc_3.radio_out * g.top_bottom_ratio) - (g.rc_2.pwm_out * 4 / 3); 					// REAR TOP - CCW
-	motor_out[MOT_4] 		= g.rc_3.radio_out - (g.rc_2.pwm_out * 4 / 3); 					// BOTTOM_REAR - CW
-
-	//left
-	motor_out[MOT_2] 		-= YAW_DIRECTION * g.rc_4.pwm_out; // LEFT TOP - CW
-	motor_out[MOT_3] 		+= YAW_DIRECTION * g.rc_4.pwm_out; // LEFT BOTTOM - CCW
-	//right
-	motor_out[MOT_5] 		-= YAW_DIRECTION * g.rc_4.pwm_out; // RIGHT TOP - CW
-	motor_out[MOT_1] 		+= YAW_DIRECTION * g.rc_4.pwm_out; // RIGHT BOTTOM - CCW
-	//back
-	motor_out[MOT_6] 		+= YAW_DIRECTION * g.rc_4.pwm_out; // REAR TOP - CCW
-	motor_out[MOT_4] 		-= YAW_DIRECTION * g.rc_4.pwm_out; // REAR BOTTOM - CW
-
-
-	/*
-	int roll_out 		= (float)g.rc_1.pwm_out * .866;
-	int pitch_out 		=	g.rc_2.pwm_out / 2;
-
-	//left
-	motor_out[MOT_2]		= ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out);	// CCW TOP
-	motor_out[MOT_3]		=	g.rc_3.radio_out + roll_out + pitch_out;							// CW
-
-	//right
-	motor_out[MOT_5]		= ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out);	// CCW TOP
-	motor_out[MOT_1]		=	g.rc_3.radio_out - roll_out + pitch_out;							// CW
-
-	//back
-	motor_out[MOT_6]		 = ((g.rc_3.radio_out * g.top_bottom_ratio) - g.rc_2.pwm_out);		// CCW TOP
-	motor_out[MOT_4] 	=	g.rc_3.radio_out - g.rc_2.pwm_out;								// CW
-
-	// Yaw
-	//top
-	motor_out[MOT_2]		+= g.rc_4.pwm_out;	// CCW
-	motor_out[MOT_5]		+= g.rc_4.pwm_out;	// CCW
-	motor_out[MOT_6] 	+= g.rc_4.pwm_out;	// CCW
-
-	//bottom
-	motor_out[MOT_3]		-= g.rc_4.pwm_out;	// CW
-	motor_out[MOT_1]		-= g.rc_4.pwm_out;	// CW
-	motor_out[MOT_4]		-= g.rc_4.pwm_out;	// CW
-	*/
-
-	// TODO: add stability patch
-	motor_out[MOT_1]	= min(motor_out[MOT_1], 	out_max);
-	motor_out[MOT_2]	= min(motor_out[MOT_2], 	out_max);
-	motor_out[MOT_3]	= min(motor_out[MOT_3], 	out_max);
-	motor_out[MOT_4] = min(motor_out[MOT_4], 	out_max);
-	motor_out[MOT_5] = min(motor_out[MOT_5],	out_max);
-	motor_out[MOT_6]	= min(motor_out[MOT_6],	out_max);
-
-	// limit output so motors don't stop
-	motor_out[MOT_1] = max(motor_out[MOT_1],	out_min);
-	motor_out[MOT_2] = max(motor_out[MOT_2],	out_min);
-	motor_out[MOT_3] = max(motor_out[MOT_3],	out_min);
-	motor_out[MOT_4] = max(motor_out[MOT_4],	out_min);
-	motor_out[MOT_5] = max(motor_out[MOT_5],	out_min);
-	motor_out[MOT_6] = max(motor_out[MOT_6],	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[MOT_1]		= g.rc_3.radio_min;
-		motor_out[MOT_2]		= g.rc_3.radio_min;
-		motor_out[MOT_3]		= g.rc_3.radio_min;
-		motor_out[MOT_4] 	= g.rc_3.radio_min;
-		motor_out[MOT_5] 	= g.rc_3.radio_min;
-		motor_out[MOT_6] 	= g.rc_3.radio_min;
-	}
-	#endif
-
-	// this filter slows the acceleration of motors vs the deceleration
-	// Idea by Denny Rowland to help with his Yaw issue
-	for(int8_t m = 1; m <= 6; m++){
-		int i = ch_of_mot(m);
-		if(motor_filtered[i] < motor_out[i]){
-			motor_filtered[i] = (motor_out[i] + motor_filtered[i]) / 2;
-		}else{
-			// don't filter
-			motor_filtered[i] = motor_out[i];
-		}
-	}
-
-	APM_RC.OutputCh(MOT_1, motor_filtered[MOT_1]);
-	APM_RC.OutputCh(MOT_2, motor_filtered[MOT_2]);
-	APM_RC.OutputCh(MOT_3, motor_filtered[MOT_3]);
-	APM_RC.OutputCh(MOT_4, motor_filtered[MOT_4]);
-	APM_RC.OutputCh(MOT_5, motor_filtered[MOT_5]);
-	APM_RC.OutputCh(MOT_6, motor_filtered[MOT_6]);
-
-	#if INSTANT_PWM == 1
-	// InstantPWM
-	APM_RC.Force_Out0_Out1();
-	APM_RC.Force_Out2_Out3();
-	APM_RC.Force_Out6_Out7();
-	#endif
-}
-
-static void output_motors_disarmed()
-{
-	if(g.rc_3.control_in > 0){
-		// we have pushed up the throttle
-		// remove safety
-		motor_auto_armed = true;
-	}
-
-	// fill the motor_out[] array for HIL use
-	for (unsigned char i = 0; i < 8; i++){
-		motor_out[i] = g.rc_3.radio_min;
-	}
-
-	// Send commands to motors
-	APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
-	APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
-}
-
-static void output_motor_test()
-{
-	motor_out[MOT_1] = g.rc_3.radio_min;
-	motor_out[MOT_2] = g.rc_3.radio_min;
-	motor_out[MOT_3] = g.rc_3.radio_min;
-	motor_out[MOT_4] = g.rc_3.radio_min;
-	motor_out[MOT_5] = g.rc_3.radio_min;
-	motor_out[MOT_6] = g.rc_3.radio_min;
-
-	APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
-	delay(5000);
-	APM_RC.OutputCh(MOT_2, g.rc_3.radio_min + 100);
-	delay(300);
-
-	APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
-	delay(3000);
-	APM_RC.OutputCh(MOT_3, g.rc_3.radio_min + 100);
-	delay(300);
-
-	APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
-	delay(3000);
-	APM_RC.OutputCh(MOT_6, g.rc_3.radio_min + 100);
-	delay(300);
-
-	APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
-	delay(3000);
-	APM_RC.OutputCh(MOT_4, g.rc_3.radio_min + 100);
-	delay(300);
-
-	APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
-	delay(3000);
-	APM_RC.OutputCh(MOT_5, g.rc_3.radio_min + 100);
-	delay(300);
-
-	APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
-	delay(3000);
-	APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100);
-	delay(300);
-
-	APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
-	APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
-	APM_RC.OutputCh(MOT_3, motor_out[MOT_4]);
-	APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
-	APM_RC.OutputCh(MOT_5, motor_out[MOT_5]);
-	APM_RC.OutputCh(MOT_6, motor_out[MOT_6]);
-}
-
-#endif