diff --git a/libraries/AP_Motors/AP_MotorsCoax.cpp b/libraries/AP_Motors/AP_MotorsCoax.cpp
index 2235d948bf..6921982096 100644
--- a/libraries/AP_Motors/AP_MotorsCoax.cpp
+++ b/libraries/AP_Motors/AP_MotorsCoax.cpp
@@ -29,7 +29,7 @@ extern const AP_HAL::HAL& hal;
 
 const AP_Param::GroupInfo AP_MotorsCoax::var_info[] PROGMEM = {
     // variables from parent vehicle
-    AP_NESTEDGROUPINFO(AP_Motors_Multirotor, 0),
+    AP_NESTEDGROUPINFO(AP_MotorsMulticopter, 0),
 
     // parameters 1 ~ 29 were reserved for tradheli
     // parameters 30 ~ 39 reserved for tricopter
@@ -64,9 +64,6 @@ const AP_Param::GroupInfo AP_MotorsCoax::var_info[] PROGMEM = {
 // init
 void AP_MotorsCoax::Init()
 {
-    // call parent Init function to set-up throttle curve
-    AP_Motors::Init();
-
     // set update rate for the 2 motors (but not the servo on channel 1&2)
     set_update_rate(_speed_hz);
 
diff --git a/libraries/AP_Motors/AP_MotorsCoax.h b/libraries/AP_Motors/AP_MotorsCoax.h
index b10c3c4103..9be3527bba 100644
--- a/libraries/AP_Motors/AP_MotorsCoax.h
+++ b/libraries/AP_Motors/AP_MotorsCoax.h
@@ -9,7 +9,7 @@
 #include <AP_Common.h>
 #include <AP_Math.h>        // ArduPilot Mega Vector/Matrix math Library
 #include <RC_Channel.h>     // RC Channel Library
-#include "AP_Motors_Multirotor.h"
+#include "AP_MotorsMulticopter.h"
 
 // feedback direction
 #define AP_MOTORS_COAX_POSITIVE      1
@@ -21,12 +21,12 @@
 #define AP_MOTORS_COAX_SERVO_INPUT_RANGE    4500    // roll or pitch input of -4500 will cause servos to their minimum (i.e. radio_min), +4500 will move them to their maximum (i.e. radio_max)
 
 /// @class      AP_MotorsSingle
-class AP_MotorsCoax : public AP_Motors_Multirotor {
+class AP_MotorsCoax : public AP_MotorsMulticopter {
 public:
 
     /// Constructor
     AP_MotorsCoax(RC_Channel& servo1, RC_Channel& servo2, uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
-        AP_Motors_Multirotor(loop_rate, speed_hz),
+        AP_MotorsMulticopter(loop_rate, speed_hz),
         _servo1(servo1),
         _servo2(servo2)
     {