You asked quite a lot, so I'll give some quick explanations and count on you to google the terms for more info . . . most of the info you can find here at SoR by browsing through the tutorials:
tx and rx are for serial commands - basically strings of data sent by UART
servos use RC servo signals
motors require motor drivers and PWM signals
a "6 ch futaba micro controller" is actually a "6 ch futaba receiver" . . . a receiver sends out RC servo signals
a microcontroller sends out PWM signals, but needs a separate motor driver to power a motor