diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp
index 2cdf1f5584..353b027293 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp
@@ -98,6 +98,51 @@ void AP_MotorsMatrix::output_min()
     hal.rcout->push();
 }
 
+void AP_MotorsMatrix::output_to_motors()
+{
+    int8_t i;
+    int16_t motor_out[AP_MOTORS_MAX_NUM_MOTORS];    // final pwm values sent to the motor
+
+    switch (_multicopter_flags.spool_mode) {
+        case SHUT_DOWN:
+            // sends minimum values out to the motors
+            // set motor output based on thrust requests
+            for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
+                if (motor_enabled[i]) {
+                    motor_out[i] = _throttle_radio_min;
+                }
+            }
+            break;
+        case SPIN_WHEN_ARMED:
+            // sends output to motors when armed but not flying
+            for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
+                if (motor_enabled[i]) {
+                    motor_out[i] = constrain_int16(_throttle_radio_min + _throttle_low_end_pct * _min_throttle, _throttle_radio_min, _throttle_radio_min + _min_throttle);
+                }
+            }
+            break;
+        case SPOOL_UP:
+        case THROTTLE_UNLIMITED:
+        case SPOOL_DOWN:
+            // set motor output based on thrust requests
+            for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
+                if (motor_enabled[i]) {
+                    motor_out[i] = calc_thrust_to_pwm(_thrust_rpyt_out[i]);
+                }
+            }
+            break;
+    }
+
+    // send output to each motor
+    hal.rcout->cork();
+    for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
+        if (motor_enabled[i]) {
+            rc_write(i, motor_out[i]);
+        }
+    }
+    hal.rcout->push();
+}
+
 // get_motor_mask - returns a bitmask of which outputs are being used for motors (1 means being used)
 //  this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
 uint16_t AP_MotorsMatrix::get_motor_mask()
diff --git a/libraries/AP_Motors/AP_MotorsMatrix.h b/libraries/AP_Motors/AP_MotorsMatrix.h
index d118b32c75..9cf08da10b 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.h
+++ b/libraries/AP_Motors/AP_MotorsMatrix.h
@@ -42,6 +42,9 @@ 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();
+
     // add_motor using just position and yaw_factor (or prop direction)
     void                add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, uint8_t testing_order);