diff --git a/libraries/AP_Motors/AP_MotorsMulticopter.h b/libraries/AP_Motors/AP_MotorsMulticopter.h
index ebc4619acc..9651a8258b 100644
--- a/libraries/AP_Motors/AP_MotorsMulticopter.h
+++ b/libraries/AP_Motors/AP_MotorsMulticopter.h
@@ -87,7 +87,7 @@ public:
     // output a thrust to all motors that match a given motor
     // mask. This is used to control tiltrotor motors in forward
     // flight. Thrust is in the range 0 to 1
-    void                output_motor_mask(float thrust, uint8_t mask);
+    virtual void        output_motor_mask(float thrust, uint8_t mask);
 
     // get minimum or maximum pwm value that can be output to motors
     int16_t             get_pwm_output_min() const;
diff --git a/libraries/AP_Motors/AP_MotorsTri.cpp b/libraries/AP_Motors/AP_MotorsTri.cpp
index 1713031740..48772c290f 100644
--- a/libraries/AP_Motors/AP_MotorsTri.cpp
+++ b/libraries/AP_Motors/AP_MotorsTri.cpp
@@ -320,3 +320,15 @@ void AP_MotorsTri::thrust_compensation(void)
         _thrust_rear  = thrust[3];
     }
 }
+
+/*
+  override tricopter tail servo output in output_motor_mask
+ */
+void AP_MotorsTri::output_motor_mask(float thrust, uint8_t mask)
+{
+    // normal multicopter output
+    AP_MotorsMulticopter::output_motor_mask(thrust, mask);
+
+    // and override yaw servo
+    rc_write(AP_MOTORS_CH_TRI_YAW, _yaw_servo->get_trim());
+}
diff --git a/libraries/AP_Motors/AP_MotorsTri.h b/libraries/AP_Motors/AP_MotorsTri.h
index 1efd27d4cb..fa893ea603 100644
--- a/libraries/AP_Motors/AP_MotorsTri.h
+++ b/libraries/AP_Motors/AP_MotorsTri.h
@@ -47,6 +47,11 @@ public:
     //  this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
     virtual uint16_t    get_motor_mask();
 
+    // output a thrust to all motors that match a given motor
+    // mask. This is used to control tiltrotor motors in forward
+    // flight. Thrust is in the range 0 to 1
+    void                output_motor_mask(float thrust, uint8_t mask) override;
+    
 protected:
     // output - sends commands to the motors
     void                output_armed_stabilizing();