diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp
index 6e19f66d72..85448183c9 100644
--- a/libraries/AP_HAL_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State.cpp
@@ -688,7 +688,26 @@ void SITL_State::_simulator_servos(struct sitl_input &input)
     }
 
     if (_vehicle == ArduPlane) {
-        throttle = constrain_float((input.servos[2] - 1000) / 1000.0f, 0.0f, 1.0f);
+        float forward_throttle = constrain_float((input.servos[2] - 1000) / 1000.0f, 0.0f, 1.0f);
+        // do a little quadplane dance
+        float hover_throttle = 0.0f;
+        uint8_t running_motors = 0;
+        for (i=0; i < sitl_model->get_num_motors() - 1; i++) {
+            float motor_throttle = constrain_float((input.servos[sitl_model->get_motors_offset() + i] - 1000) / 1000.0f, 0.0f, 1.0f);
+            // update motor_on flag
+            if (!is_zero(motor_throttle)) {
+                hover_throttle += motor_throttle;
+                running_motors++;
+            }
+        }
+        if (running_motors > 0) {
+            hover_throttle /= running_motors;
+        }
+        if (!is_zero(forward_throttle)) {
+            throttle = forward_throttle;
+        } else {
+            throttle = hover_throttle;
+        }
     } else if (_vehicle == APMrover2) {
         input.servos[2] = static_cast<uint16_t>(constrain_int16(input.servos[2], 1000, 2000));
         input.servos[0] = static_cast<uint16_t>(constrain_int16(input.servos[0], 1000, 2000));
@@ -696,7 +715,7 @@ void SITL_State::_simulator_servos(struct sitl_input &input)
     } else {
         // run checks on each motor
         uint8_t running_motors = 0;
-        for (i=0; i<SITL_NUM_CHANNELS; i++) {
+        for (i=0; i < sitl_model->get_num_motors(); i++) {
             float motor_throttle = constrain_float((input.servos[i] - 1000) / 1000.0f, 0.0f, 1.0f);
             // update motor_on flag
             if (!is_zero(motor_throttle)) {