From 37be83994fc06e7f8abc28edb604f39e7cad49d4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 22 Jan 2013 20:09:47 +1100
Subject: [PATCH] SITL: allow motor multiplier to work on quad simulation

---
 libraries/AP_HAL_AVR_SITL/SITL_State.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_HAL_AVR_SITL/SITL_State.cpp b/libraries/AP_HAL_AVR_SITL/SITL_State.cpp
index 7a6e901322..ae6a3dd411 100644
--- a/libraries/AP_HAL_AVR_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_AVR_SITL/SITL_State.cpp
@@ -393,6 +393,7 @@ void SITL_State::_simulator_output(void)
 		_motors_on = false;
 		for (i=0; i<4; i++) {
 			if ((control.pwm[i]-1000)/1000.0 > 0) {
+                control.pwm[i] = ((control.pwm[i]-1000) * _sitl->engine_mul) + 1000;                
 				_motors_on = true;
 			}
 		}