diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c
index f17c78c7a5..c49b470512 100644
--- a/apps/mavlink/orb_listener.c
+++ b/apps/mavlink/orb_listener.c
@@ -447,25 +447,25 @@ l_actuator_outputs(struct listener *l)
 			if (isfinite(act_outputs.output[3])
 				&& act_outputs.output[3] > 800 && act_outputs.output[3] < 2200) {
 				/* throttle is fourth output */
-				rudder = (act_outputs.output[2] - 1500.0f) / 1000.0f;
-				throttle = (act_outputs.output[3] - 1000.0f) / 1000.0f;
+				rudder = (act_outputs.output[2] - 1500.0f) / 600.0f;
+				throttle = (((act_outputs.output[3] - 1500.0f) / 600.0f) + 1.0f) / 2.0f;
 			} else {
 				/* only three outputs, put throttle on position 4 / index 3 */
 				rudder = 0;
-				throttle = (act_outputs.output[2] - 1000.0f) / 1000.0f;
+				throttle = (((act_outputs.output[2] - 1500.0f) / 600.0f) + 1.0f) / 2.0f;
 			}
 
 			/* HIL message as per MAVLink spec */
 			mavlink_msg_hil_controls_send(chan,
 				hrt_absolute_time(),
-				(act_outputs.output[0] - 1500.0f) / 1000.0f,
-				(act_outputs.output[1] - 1500.0f) / 1000.0f,
+				(act_outputs.output[0] - 1500.0f) / 600.0f,
+				(act_outputs.output[1] - 1500.0f) / 600.0f,
 				rudder,
 				throttle,
-				(act_outputs.output[4] - 1500.0f) / 1000.0f,
-				(act_outputs.output[5] - 1500.0f) / 1000.0f,
-				(act_outputs.output[6] - 1500.0f) / 1000.0f,
-				(act_outputs.output[7] - 1500.0f) / 1000.0f,
+				(act_outputs.output[4] - 1500.0f) / 600.0f,
+				(act_outputs.output[5] - 1500.0f) / 600.0f,
+				(act_outputs.output[6] - 1500.0f) / 600.0f,
+				(act_outputs.output[7] - 1500.0f) / 600.0f,
 				mavlink_mode,
 				0);
 		}