diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.cpp
index 27288299b6..58b4579e48 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.cpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.cpp
@@ -129,6 +129,11 @@ void ActuatorEffectivenessControlSurfaces::updateParams()
 
 		case Type::SingleChannelAileron:
 			break;
+
+		case Type::SteeringWheel:
+			torque.setZero();
+			break;
+
 		}
 	}
 }
@@ -146,8 +151,8 @@ bool ActuatorEffectivenessControlSurfaces::addActuators(Configuration &configura
 	return true;
 }
 
-void ActuatorEffectivenessControlSurfaces::applyFlapsAndAirbrakes(float flaps_control, float airbrakes_control,
-		int first_actuator_idx,
+void ActuatorEffectivenessControlSurfaces::applyFlapsAirbrakesWheel(float flaps_control, float airbrakes_control,
+		float wheel_control, int first_actuator_idx,
 		ActuatorVector &actuator_sp) const
 {
 	for (int i = 0; i < _count; ++i) {
@@ -165,6 +170,10 @@ void ActuatorEffectivenessControlSurfaces::applyFlapsAndAirbrakes(float flaps_co
 			actuator_sp(i + first_actuator_idx) += airbrakes_control;
 			break;
 
+		case ActuatorEffectivenessControlSurfaces::Type::SteeringWheel:
+			actuator_sp(i + first_actuator_idx) += wheel_control;
+			break;
+
 		default:
 			break;
 		}
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp
index efb51e0d6e..bb45604ce7 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp
@@ -60,6 +60,7 @@ public:
 		LeftATail = 13,
 		RightATail = 14,
 		SingleChannelAileron = 15,
+		SteeringWheel = 16,
 	};
 
 	struct Params {
@@ -80,8 +81,8 @@ public:
 
 	const Params &config(int idx) const { return _params[idx]; }
 
-	void applyFlapsAndAirbrakes(float flaps_control, float airbrakes_control, int first_actuator_idx,
-				    ActuatorVector &actuator_sp) const;
+	void applyFlapsAirbrakesWheel(float flaps_control, float airbrakes_control, float wheel_control, int first_actuator_idx,
+				      ActuatorVector &actuator_sp) const;
 
 private:
 	void updateParams() override;
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp
index bddc95e913..97b7f89c0b 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp
@@ -68,8 +68,10 @@ void ActuatorEffectivenessFixedWing::updateSetpoint(const matrix::Vector<float,
 	actuator_controls_s actuator_controls_0;
 
 	if (_actuator_controls_0_sub.copy(&actuator_controls_0)) {
-		float control_flaps = actuator_controls_0.control[actuator_controls_s::INDEX_FLAPS];
-		float airbrakes_control = actuator_controls_0.control[actuator_controls_s::INDEX_AIRBRAKES];
-		_control_surfaces.applyFlapsAndAirbrakes(control_flaps, airbrakes_control, _first_control_surface_idx, actuator_sp);
+		const float flaps_control = actuator_controls_0.control[actuator_controls_s::INDEX_FLAPS];
+		const float airbrakes_control = actuator_controls_0.control[actuator_controls_s::INDEX_AIRBRAKES];
+		const float steering_wheel_control = actuator_controls_0.control[actuator_controls_s::INDEX_YAW];
+		_control_surfaces.applyFlapsAirbrakesWheel(flaps_control, airbrakes_control, steering_wheel_control,
+				_first_control_surface_idx, actuator_sp);
 	}
 }
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
index 692f76e53c..63fa1481c9 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
@@ -71,9 +71,11 @@ void ActuatorEffectivenessStandardVTOL::updateSetpoint(const matrix::Vector<floa
 		actuator_controls_s actuator_controls_1;
 
 		if (_actuator_controls_1_sub.copy(&actuator_controls_1)) {
-			float control_flaps = actuator_controls_1.control[actuator_controls_s::INDEX_FLAPS];
-			float airbrakes_control = actuator_controls_1.control[actuator_controls_s::INDEX_AIRBRAKES];
-			_control_surfaces.applyFlapsAndAirbrakes(control_flaps, airbrakes_control, _first_control_surface_idx, actuator_sp);
+			const float flaps_control = actuator_controls_1.control[actuator_controls_s::INDEX_FLAPS];
+			const float airbrakes_control = actuator_controls_1.control[actuator_controls_s::INDEX_AIRBRAKES];
+			const float steering_wheel_control = actuator_controls_1.control[actuator_controls_s::INDEX_YAW];
+			_control_surfaces.applyFlapsAirbrakesWheel(flaps_control, airbrakes_control, steering_wheel_control,
+					_first_control_surface_idx, actuator_sp);
 		}
 	}
 }
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
index 675548cab6..b2c14e6c54 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
@@ -101,7 +101,9 @@ void ActuatorEffectivenessTiltrotorVTOL::updateSetpoint(const matrix::Vector<flo
 		if (_actuator_controls_1_sub.copy(&actuator_controls_1)) {
 			const float flaps_control = actuator_controls_1.control[actuator_controls_s::INDEX_FLAPS];
 			const float airbrakes_control = actuator_controls_1.control[actuator_controls_s::INDEX_AIRBRAKES];
-			_control_surfaces.applyFlapsAndAirbrakes(flaps_control, airbrakes_control, _first_control_surface_idx, actuator_sp);
+			const float steering_wheel_control = actuator_controls_1.control[actuator_controls_s::INDEX_YAW];
+			_control_surfaces.applyFlapsAirbrakesWheel(flaps_control, airbrakes_control, steering_wheel_control,
+					_first_control_surface_idx, actuator_sp);
 		}
 	}
 
diff --git a/src/modules/control_allocator/module.yaml b/src/modules/control_allocator/module.yaml
index 1df4ae649c..0159ab1113 100644
--- a/src/modules/control_allocator/module.yaml
+++ b/src/modules/control_allocator/module.yaml
@@ -271,6 +271,7 @@ parameters:
                 13: Left A-tail
                 14: Right A-tail
                 15: Single Channel Aileron
+                16: Steering Wheel
             num_instances: *max_num_servos
             instance_start: 0
             default: 0
@@ -544,6 +545,10 @@ mixer:
               - { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # roll
               - { 'hidden': True, 'default': 0.0 } # pitch
               - { 'hidden': True, 'default': 0.0 } # yaw
+            16: # Steering Wheel
+              - { 'hidden': True, 'default': 0.0 } # roll
+              - { 'hidden': True, 'default': 0.0 } # pitch
+              - { 'hidden': True, 'default': 0.0 } # yaw
 
       - select_identifier: 'servo-type-tailsitter' # restrict torque based on servo type for tailsitters
         apply_identifiers: ['servo-torque-roll-tailsitter', 'servo-torque-pitch-tailsitter', 'servo-torque-yaw-tailsitter']