diff --git a/src/modules/control_allocator/ControlAllocator.cpp b/src/modules/control_allocator/ControlAllocator.cpp
index f73a6ecf26..3a740c2f30 100644
--- a/src/modules/control_allocator/ControlAllocator.cpp
+++ b/src/modules/control_allocator/ControlAllocator.cpp
@@ -227,6 +227,10 @@ ControlAllocator::update_effectiveness_source()
 			tmp = new ActuatorEffectivenessFixedWing(this);
 			break;
 
+		case EffectivenessSource::MOTORS_6DOF: // just a different UI from MULTIROTOR
+			tmp = new ActuatorEffectivenessRotors(this);
+			break;
+
 		default:
 			PX4_ERR("Unknown airframe");
 			break;
diff --git a/src/modules/control_allocator/ControlAllocator.hpp b/src/modules/control_allocator/ControlAllocator.hpp
index bce976616c..12789956c6 100644
--- a/src/modules/control_allocator/ControlAllocator.hpp
+++ b/src/modules/control_allocator/ControlAllocator.hpp
@@ -141,6 +141,7 @@ private:
 		ROVER_ACKERMANN = 3,
 		ROVER_DIFFERENTIAL = 4,
 		FIXED_WING = 5,
+		MOTORS_6DOF = 6,
 	};
 
 	EffectivenessSource _effectiveness_source_id{EffectivenessSource::NONE};
diff --git a/src/modules/control_allocator/module.yaml b/src/modules/control_allocator/module.yaml
index 7a75c25316..b427ddf570 100644
--- a/src/modules/control_allocator/module.yaml
+++ b/src/modules/control_allocator/module.yaml
@@ -21,6 +21,7 @@ parameters:
                 3: Rover (Ackermann)
                 4: Rover (Differential)
                 5: Fixed Wing
+                5: Motors (6DOF)
             default: 0
 
         CA_METHOD:
@@ -582,4 +583,23 @@ mixer:
                           - name: 'CA_SV_CS${i}_TRIM'
                             label: 'Trim'
 
+            6: # Motors (6DOF)
+                actuators:
+                  - actuator_type: 'motor'
+                    count: 'CA_ROTOR_COUNT'
+                    per_item_parameters:
+                        standard:
+                            position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
+                        extra:
+                          - name: 'CA_ROTOR${i}_AX'
+                            label: 'Axis X'
+                            function: 'axisx'
+                          - name: 'CA_ROTOR${i}_AY'
+                            label: 'Axis Y'
+                            function: 'axisy'
+                          - name: 'CA_ROTOR${i}_AZ'
+                            label: 'Axis Z'
+                            function: 'axisz'
+                          - name: 'CA_ROTOR${i}_KM'
+                            label: "Moment\nCoefficient"