diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 0f3c2653ff..686c41c872 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -474,15 +474,15 @@ static struct {
 #endif
 
 #if FRAME_CONFIG == HELI_FRAME  // helicopter constructor requires more arguments
-static MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7, &g.rc_8, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4);
+static MOTOR_CLASS motors(g.rc_1, g.rc_2, g.rc_3, g.rc_4, g.rc_7, g.rc_8, g.heli_servo_1, g.heli_servo_2, g.heli_servo_3, g.heli_servo_4);
 #elif FRAME_CONFIG == TRI_FRAME  // tri constructor requires additional rc_7 argument to allow tail servo reversing
-static MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7);
+static MOTOR_CLASS motors(g.rc_1, g.rc_2, g.rc_3, g.rc_4, g.rc_7);
 #elif FRAME_CONFIG == SINGLE_FRAME  // single constructor requires extra servos for flaps
-static MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.single_servo_1, &g.single_servo_2, &g.single_servo_3, &g.single_servo_4);
+static MOTOR_CLASS motors(g.rc_1, g.rc_2, g.rc_3, g.rc_4, g.single_servo_1, g.single_servo_2, g.single_servo_3, g.single_servo_4);
 #elif FRAME_CONFIG == COAX_FRAME  // single constructor requires extra servos for flaps
-static MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.single_servo_1, &g.single_servo_2);
+static MOTOR_CLASS motors(g.rc_1, g.rc_2, g.rc_3, g.rc_4, g.single_servo_1, g.single_servo_2);
 #else
-static MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
+static MOTOR_CLASS motors(g.rc_1, g.rc_2, g.rc_3, g.rc_4);
 #endif
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -686,12 +686,10 @@ static AP_InertialNav inertial_nav(&ahrs, &barometer, g_gps, gps_glitch);
 ////////////////////////////////////////////////////////////////////////////////
 #if FRAME_CONFIG == HELI_FRAME
 AC_AttitudeControl_Heli attitude_control(ahrs, ins, aparm, motors, g.pi_stabilize_roll, g.pi_stabilize_pitch, g.pi_stabilize_yaw,
-                        g.pid_rate_roll, g.pid_rate_pitch, g.pid_rate_yaw,
-                        g.rc_1.servo_out, g.rc_2.servo_out, g.rc_4.servo_out, g.rc_3.servo_out);
+                        g.pid_rate_roll, g.pid_rate_pitch, g.pid_rate_yaw);
 #else
 AC_AttitudeControl attitude_control(ahrs, ins, aparm, motors, g.pi_stabilize_roll, g.pi_stabilize_pitch, g.pi_stabilize_yaw,
-                        g.pid_rate_roll, g.pid_rate_pitch, g.pid_rate_yaw,
-                        g.rc_1.servo_out, g.rc_2.servo_out, g.rc_4.servo_out, g.rc_3.servo_out);
+                        g.pid_rate_roll, g.pid_rate_pitch, g.pid_rate_yaw);
 #endif
 AC_PosControl pos_control(ahrs, inertial_nav, motors, attitude_control,
                         g.pi_alt_hold, g.pid_throttle_rate, g.pid_throttle_accel,