diff --git a/APMrover2/AP_MotorsUGV.cpp b/APMrover2/AP_MotorsUGV.cpp
index 2105a2deb5..3c09daf51f 100644
--- a/APMrover2/AP_MotorsUGV.cpp
+++ b/APMrover2/AP_MotorsUGV.cpp
@@ -398,6 +398,12 @@ bool AP_MotorsUGV::output_test_pct(motor_test_order motor_seq, float pct)
             }
             break;
         }
+        case MOTOR_TEST_MAINSAIL: {
+            if (SRV_Channels::function_assigned(SRV_Channel::k_mainsail_sheet)) {
+                SRV_Channels::set_output_scaled(SRV_Channel::k_mainsail_sheet, pct);
+            }
+            break;
+        }
         default:
             return false;
     }
@@ -452,6 +458,12 @@ bool AP_MotorsUGV::output_test_pwm(motor_test_order motor_seq, float pwm)
             }
             break;
         }
+        case MOTOR_TEST_MAINSAIL: {
+            if (SRV_Channels::function_assigned(SRV_Channel::k_mainsail_sheet)) {
+                SRV_Channels::set_output_pwm(SRV_Channel::k_mainsail_sheet, pwm);
+            }
+            break;
+        }
         default:
             return false;
     }
diff --git a/APMrover2/AP_MotorsUGV.h b/APMrover2/AP_MotorsUGV.h
index 3dd136aaa2..bf68e63e74 100644
--- a/APMrover2/AP_MotorsUGV.h
+++ b/APMrover2/AP_MotorsUGV.h
@@ -23,6 +23,7 @@ public:
         MOTOR_TEST_STEERING = 2,
         MOTOR_TEST_THROTTLE_LEFT = 3,
         MOTOR_TEST_THROTTLE_RIGHT = 4,
+        MOTOR_TEST_MAINSAIL = 5
     };
 
     // supported custom motor configurations