diff --git a/libraries/AP_Motors/AP_MotorsCoax.cpp b/libraries/AP_Motors/AP_MotorsCoax.cpp
index 56711844ff..0a812badc2 100644
--- a/libraries/AP_Motors/AP_MotorsCoax.cpp
+++ b/libraries/AP_Motors/AP_MotorsCoax.cpp
@@ -130,6 +130,47 @@ void AP_MotorsCoax::output_min()
     hal.rcout->push();
 }
 
+void AP_MotorsCoax::output_to_motors()
+{
+    switch (_multicopter_flags.spool_mode) {
+        case SHUT_DOWN:
+            // sends minimum values out to the motors
+            hal.rcout->cork();
+            rc_write(AP_MOTORS_MOT_1, calc_pivot_radio_output(_roll_radio_passthrough*_servo_1_reverse, _servo_1_min, _servo_1_trim, _servo_1_max));
+            rc_write(AP_MOTORS_MOT_2, calc_pivot_radio_output(_pitch_radio_passthrough *_servo_2_reverse, _servo_2_min, _servo_2_trim, _servo_2_max));
+            rc_write(AP_MOTORS_MOT_3, calc_pivot_radio_output(_roll_radio_passthrough*_servo_3_reverse, _servo_3_min, _servo_3_trim, _servo_3_max));
+            rc_write(AP_MOTORS_MOT_4, calc_pivot_radio_output(_pitch_radio_passthrough*_servo_4_reverse, _servo_4_min, _servo_4_trim, _servo_4_max));
+            rc_write(AP_MOTORS_MOT_5, _throttle_radio_min);
+            rc_write(AP_MOTORS_MOT_6, _throttle_radio_min);
+            hal.rcout->push();
+            break;
+        case SPIN_WHEN_ARMED:
+            // sends output to motors when armed but not flying
+            hal.rcout->cork();
+            rc_write(AP_MOTORS_MOT_1, calc_pivot_radio_output(_throttle_low_end_pct * _actuator_out[0]*_servo_1_reverse, _servo_1_min, _servo_1_trim, _servo_1_max));
+            rc_write(AP_MOTORS_MOT_2, calc_pivot_radio_output(_throttle_low_end_pct * _actuator_out[1]*_servo_2_reverse, _servo_2_min, _servo_2_trim, _servo_2_max));
+            rc_write(AP_MOTORS_MOT_3, calc_pivot_radio_output(_throttle_low_end_pct * _actuator_out[2]*_servo_3_reverse, _servo_3_min, _servo_3_trim, _servo_3_max));
+            rc_write(AP_MOTORS_MOT_4, calc_pivot_radio_output(_throttle_low_end_pct * _actuator_out[3]*_servo_4_reverse, _servo_4_min, _servo_4_trim, _servo_4_max));
+            rc_write(AP_MOTORS_MOT_5, constrain_int16(_throttle_radio_min + _throttle_low_end_pct * _min_throttle, _throttle_radio_min, _throttle_radio_min + _min_throttle));
+            rc_write(AP_MOTORS_MOT_6, constrain_int16(_throttle_radio_min + _throttle_low_end_pct * _min_throttle, _throttle_radio_min, _throttle_radio_min + _min_throttle));
+            hal.rcout->push();
+            break;
+        case SPOOL_UP:
+        case THROTTLE_UNLIMITED:
+        case SPOOL_DOWN:
+            // set motor output based on thrust requests
+            hal.rcout->cork();
+            rc_write(AP_MOTORS_MOT_1, calc_pivot_radio_output(_actuator_out[0]*_servo_1_reverse, _servo_1_min, _servo_1_trim, _servo_1_max));
+            rc_write(AP_MOTORS_MOT_2, calc_pivot_radio_output(_actuator_out[1]*_servo_2_reverse, _servo_2_min, _servo_2_trim, _servo_2_max));
+            rc_write(AP_MOTORS_MOT_3, calc_pivot_radio_output(_actuator_out[2]*_servo_3_reverse, _servo_3_min, _servo_3_trim, _servo_3_max));
+            rc_write(AP_MOTORS_MOT_4, calc_pivot_radio_output(_actuator_out[3]*_servo_4_reverse, _servo_4_min, _servo_4_trim, _servo_4_max));
+            rc_write(AP_MOTORS_MOT_5, calc_thrust_to_pwm(_thrust_yt_ccw));
+            rc_write(AP_MOTORS_MOT_6, calc_thrust_to_pwm(_thrust_yt_cw));
+            hal.rcout->push();
+            break;
+    }
+}
+
 // get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
 //  this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
 uint16_t AP_MotorsCoax::get_motor_mask()
diff --git a/libraries/AP_Motors/AP_MotorsCoax.h b/libraries/AP_Motors/AP_MotorsCoax.h
index 159e20648e..1b5d3d58eb 100644
--- a/libraries/AP_Motors/AP_MotorsCoax.h
+++ b/libraries/AP_Motors/AP_MotorsCoax.h
@@ -52,6 +52,9 @@ public:
     // output_min - sends minimum values out to the motors
     virtual void        output_min();
 
+    // output_to_motors - sends minimum values out to the motors
+    virtual void        output_to_motors();
+
     // get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
     //  this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
     virtual uint16_t    get_motor_mask();