Lower end HT receivers may not have any pre-outs for connecting an external amplifier. I looked up your Yamaha and I did not see any pre-outs. I'm guessing you Onkyo also does not have pre-outs. If you say your Onkyo only has a single "output", that's probably for the LFE/Subwoofer and not for the L&R front speakers.
Higher end HT receivers will typically have pre-outs for, at least, the L&R front speakers, and possible for L&R front, was well as all surround channels.
Higher end HT receivers will typically have pre-outs for, at least, the L&R front speakers, and possible for L&R front, was well as all surround channels.