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While I haven't worked with 5.1 channel outputs, I would think you could only do stereo outputs using the mixer. I'm not sure whether or not VirtualDJ can mix 5.1, but I have my doubts.
Generally, with any virtual DJ software and a soundcard with multiple outputs, you route a deck through each physical output. You mentioned at least three; now you just need to figure out how to set that up in the software options.
I'm not sure if each output (physical) is capable of doing stereo; if this is not the case, you would only be hearing one channel (mono [left by default?]), rather than stereo.
As to getting the sound to play through 5.1, if the 5.1 speaker setup requires three outputs on the soundcard (for different channels), then it is unrealistic to expect to play in 5.1, since you're using outputs from the soundcard.
The only way you could have it (potentially) play through the 5.1 speakers is if you routed the output from the mixer back into the computer and had it play through an available output. Again, see above regarding requiring multiple outputs.
As to poor sound quality, make sure the outputs aren't filtering the signal. Speakers with subwoofers generally filter out high and low frequencies to send to the respective sub/speaker, but that may or may not be the case.
Hopefully this somewhat helps... not really thinking very clearly at the moment (it's late).
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