diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
index 74e3ae562e..79853c7518 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
@@ -53,7 +53,8 @@ ActuatorEffectivenessStandardVTOL::getEffectivenessMatrix(Configuration &configu
 	configuration.selected_matrix = 0;
 	_rotors.enablePropellerTorqueNonUpwards(false);
 	const bool mc_rotors_added_successfully = _rotors.addActuators(configuration);
-	_mc_motors_mask = _rotors.getUpwardsMotors();
+	_upwards_motors_mask = _rotors.getUpwardsMotors();
+	_forwards_motors_mask = _rotors.getForwardsMotors();
 
 	// Control Surfaces
 	configuration.selected_matrix = 1;
@@ -83,6 +84,15 @@ void ActuatorEffectivenessStandardVTOL::allocateAuxilaryControls(const float dt,
 	}
 }
 
+void ActuatorEffectivenessStandardVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
+		int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
+		const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
+{
+	if (matrix_index == 0) {
+		stopMaskedMotorsWithZeroThrust(_forwards_motors_mask, actuator_sp);
+	}
+}
+
 void ActuatorEffectivenessStandardVTOL::setFlightPhase(const FlightPhase &flight_phase)
 {
 	if (_flight_phase == flight_phase) {
@@ -94,13 +104,13 @@ void ActuatorEffectivenessStandardVTOL::setFlightPhase(const FlightPhase &flight
 	// update stopped motors
 	switch (flight_phase) {
 	case FlightPhase::FORWARD_FLIGHT:
-		_stopped_motors_mask = _mc_motors_mask;
+		_stopped_motors_mask |= _upwards_motors_mask;
 		break;
 
 	case FlightPhase::HOVER_FLIGHT:
 	case FlightPhase::TRANSITION_FF_TO_HF:
 	case FlightPhase::TRANSITION_HF_TO_FF:
-		_stopped_motors_mask = 0;
+		_stopped_motors_mask &= ~_upwards_motors_mask;
 		break;
 	}
 }
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp
index 5c9a905fd1..0e5d1bfa44 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp
@@ -75,13 +75,18 @@ public:
 
 	void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override;
 
+	void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
+			    ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
+			    const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
+
 	void setFlightPhase(const FlightPhase &flight_phase) override;
 
 private:
 	ActuatorEffectivenessRotors _rotors;
 	ActuatorEffectivenessControlSurfaces _control_surfaces;
 
-	uint32_t _mc_motors_mask{}; ///< mc motors (stopped during forward flight)
+	uint32_t _upwards_motors_mask{};
+	uint32_t _forwards_motors_mask{};
 
 	int _first_control_surface_idx{0}; ///< applies to matrix 1