diff --git a/ArduSub/control_acro.cpp b/ArduSub/control_acro.cpp
index 4f9cf85ae8..583c668b8f 100644
--- a/ArduSub/control_acro.cpp
+++ b/ArduSub/control_acro.cpp
@@ -47,6 +47,11 @@ void Copter::acro_run()
 
     // output pilot's throttle without angle boost
     attitude_control.set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);
+
+    //control_in is range 0-1000
+    //radio_in is raw pwm value
+    motors.set_forward(channel_forward->radio_in);
+    motors.set_strafe(channel_strafe->radio_in);
 }
 
 
diff --git a/ArduSub/control_althold.cpp b/ArduSub/control_althold.cpp
index ec652e214f..b38f2cad4b 100644
--- a/ArduSub/control_althold.cpp
+++ b/ArduSub/control_althold.cpp
@@ -158,4 +158,9 @@ void Copter::althold_run()
         pos_control.update_z_controller();
         break;
     }
+
+    //control_in is range 0-1000
+    //radio_in is raw pwm value
+    motors.set_forward(channel_forward->radio_in);
+    motors.set_strafe(channel_strafe->radio_in);
 }
diff --git a/ArduSub/control_stabilize.cpp b/ArduSub/control_stabilize.cpp
index 9ad9fce66f..fc0c5e2001 100644
--- a/ArduSub/control_stabilize.cpp
+++ b/ArduSub/control_stabilize.cpp
@@ -57,4 +57,9 @@ void Copter::stabilize_run()
 
     // output pilot's throttle
     attitude_control.set_throttle_out(pilot_throttle_scaled, true, g.throttle_filt);
+
+    //control_in is range 0-1000
+    //radio_in is raw pwm value
+    motors.set_forward(channel_forward->radio_in);
+    motors.set_strafe(channel_strafe->radio_in);
 }