diff --git a/src/drivers/pwm_out_sim/PWMSim.cpp b/src/drivers/pwm_out_sim/PWMSim.cpp
index ef7054b380..2771c974a6 100644
--- a/src/drivers/pwm_out_sim/PWMSim.cpp
+++ b/src/drivers/pwm_out_sim/PWMSim.cpp
@@ -33,6 +33,8 @@
 
 #include "PWMSim.hpp"
 
+#include <uORB/topics/multirotor_motor_limits.h>
+
 PWMSim::PWMSim() :
 	CDev(PWM_OUTPUT0_DEVICE_PATH),
 	_perf_control_latency(perf_alloc(PC_ELAPSED, "pwm_out_sim control latency"))
@@ -285,6 +287,19 @@ PWMSim::run()
 				}
 			}
 
+			/* publish mixer status */
+			MultirotorMixer::saturation_status saturation_status;
+			saturation_status.value = _mixers->get_saturation_status();
+
+			if (saturation_status.flags.valid) {
+				multirotor_motor_limits_s motor_limits;
+				motor_limits.timestamp = hrt_absolute_time();
+				motor_limits.saturation_status = saturation_status.value;
+
+				int instance;
+				orb_publish_auto(ORB_ID(multirotor_motor_limits), &_mixer_status, &motor_limits, &instance, ORB_PRIO_DEFAULT);
+			}
+
 			/* and publish for anyone that cares to see */
 			_actuator_outputs.timestamp = hrt_absolute_time();
 			orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_actuator_outputs);
diff --git a/src/drivers/pwm_out_sim/PWMSim.hpp b/src/drivers/pwm_out_sim/PWMSim.hpp
index 46772adf67..5804a466b0 100644
--- a/src/drivers/pwm_out_sim/PWMSim.hpp
+++ b/src/drivers/pwm_out_sim/PWMSim.hpp
@@ -112,6 +112,7 @@ private:
 
 	actuator_outputs_s _actuator_outputs = {};
 	orb_advert_t	_outputs_pub{nullptr};
+	orb_advert_t	_mixer_status{nullptr};
 
 	unsigned	_num_outputs{0};