diff --git a/ArduPlane/tailsitter.cpp b/ArduPlane/tailsitter.cpp
index 8884269b4c..1b6bdf57ee 100644
--- a/ArduPlane/tailsitter.cpp
+++ b/ArduPlane/tailsitter.cpp
@@ -82,16 +82,24 @@ void QuadPlane::tailsitter_output(void)
               during transitions to vtol mode set the throttle to
               hover thrust, center the rudder and set the altitude controller
               integrator to the same throttle level
+              convert the hover throttle to the same output that would result if used via AP_Motors
+              apply expo, battery scaling and SPIN min/max. 
             */
-            throttle = motors->get_throttle_hover() * 100;
+            throttle = motors->thrust_to_actuator(motors->get_throttle_hover()) * 100;
             throttle = MAX(throttle,plane.aparm.throttle_cruise.get());
+
             SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, 0);
             pos_control->get_accel_z_pid().set_integrator(throttle*10);
 
             // override AP_MotorsTailsitter throttles during back transition
+
+            // apply PWM min and MAX to throttle left and right, just as via AP_Motors
+            uint16_t throttle_pwm = motors->get_pwm_output_min() + (motors->get_pwm_output_max() - motors->get_pwm_output_min()) * throttle * 0.01f;
+            SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, throttle_pwm);
+            SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, throttle_pwm);
+
+            // throttle output is not used by AP_Motors so might have diffrent PWM range, set scaled
             SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle);
-            SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, throttle);
-            SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, throttle);
         }
 
         if (!assisted_flight) {
@@ -146,7 +154,7 @@ void QuadPlane::tailsitter_output(void)
     SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, (motors->get_yaw())*-SERVO_MAX);
     SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, (motors->get_pitch())*SERVO_MAX);
     SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, (motors->get_roll())*SERVO_MAX);
-    SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, (motors->get_throttle()) * 100);
+    SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, motors->thrust_to_actuator(motors->get_throttle()) * 100);
 
     if (hal.util->get_soft_armed()) {
         // scale surfaces for throttle