diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp
index 6a90bf7509..96dbfb37d5 100644
--- a/src/modules/vtol_att_control/standard.cpp
+++ b/src/modules/vtol_att_control/standard.cpp
@@ -369,9 +369,9 @@ void Standard::fill_actuator_outputs()
 		mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = landing_gear_s::GEAR_UP;
 
 		// FW out = FW in, with VTOL transition controlling throttle and airbrakes
-		fw_out[actuator_controls_s::INDEX_ROLL]         = fw_in[actuator_controls_s::INDEX_ROLL];
-		fw_out[actuator_controls_s::INDEX_PITCH]        = fw_in[actuator_controls_s::INDEX_PITCH];
-		fw_out[actuator_controls_s::INDEX_YAW]          = fw_in[actuator_controls_s::INDEX_YAW];
+		fw_out[actuator_controls_s::INDEX_ROLL]         = fw_in[actuator_controls_s::INDEX_ROLL] * (1.f - _mc_roll_weight);
+		fw_out[actuator_controls_s::INDEX_PITCH]        = fw_in[actuator_controls_s::INDEX_PITCH] * (1.f - _mc_pitch_weight);
+		fw_out[actuator_controls_s::INDEX_YAW]          = fw_in[actuator_controls_s::INDEX_YAW] * (1.f - _mc_yaw_weight);
 		fw_out[actuator_controls_s::INDEX_THROTTLE]     = _pusher_throttle;
 		fw_out[actuator_controls_s::INDEX_FLAPS]        = _flaps_setpoint_with_slewrate.getState();
 		fw_out[actuator_controls_s::INDEX_SPOILERS]    	= _spoiler_setpoint_with_slewrate.getState();