diff --git a/libraries/AP_Motors/AP_MotorsSingle.cpp b/libraries/AP_Motors/AP_MotorsSingle.cpp
index c5585acbcf..11f5dded38 100644
--- a/libraries/AP_Motors/AP_MotorsSingle.cpp
+++ b/libraries/AP_Motors/AP_MotorsSingle.cpp
@@ -121,10 +121,10 @@ void AP_MotorsSingle::output_to_motors()
         case SHUT_DOWN:
             // sends minimum values out to the motors
             hal.rcout->cork();
-            rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_roll_radio_passthrough+_yaw_radio_passthrough, _servo1));
-            rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_pitch_radio_passthrough+_yaw_radio_passthrough, _servo2));
-            rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(-_roll_radio_passthrough+_yaw_radio_passthrough, _servo3));
-            rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(-_pitch_radio_passthrough+_yaw_radio_passthrough, _servo4));
+            rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_roll_radio_passthrough - _yaw_radio_passthrough, _servo1));
+            rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_pitch_radio_passthrough - _yaw_radio_passthrough, _servo2));
+            rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(-_roll_radio_passthrough - _yaw_radio_passthrough, _servo3));
+            rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(-_pitch_radio_passthrough - _yaw_radio_passthrough, _servo4));
             rc_write(AP_MOTORS_MOT_5, get_pwm_output_min());
             rc_write(AP_MOTORS_MOT_6, get_pwm_output_min());
             hal.rcout->push();