diff --git a/src/modules/control_allocator/module.yaml b/src/modules/control_allocator/module.yaml
index af2eebcf77..12863250cd 100644
--- a/src/modules/control_allocator/module.yaml
+++ b/src/modules/control_allocator/module.yaml
@@ -961,14 +961,10 @@ mixer:
                 actuators:
                   - actuator_type: 'motor'
                     instances:
-                      - name: 'Right Motor Front'
-                        position: [ 1, 1., 0 ]
-                      - name: 'Left Motor Front'
-                        position: [ 1, -1., 0 ]
-                      - name: 'Right Motor Back'
-                        position: [ -1, 1., 0 ]
-                      - name: 'Left Motor Back'
-                        position: [ -1, -1., 0 ]
+                      - name: 'Right Motor'
+                        position: [ 0, 1., 0 ]
+                      - name: 'Left Motor'
+                        position: [ 0, -1., 0 ]
 
             7: # Motors (6DOF)
                 actuators:
@@ -1144,3 +1140,17 @@ mixer:
                     parameters:
                       - label: 'Throttle spoolup time'
                         name: COM_SPOOLUP_TIME
+
+            13: # Rover (Mecanum)
+                title: 'Rover (Mecanum)'
+                actuators:
+                  - actuator_type: 'motor'
+                    instances:
+                      - name: 'Right Motor Front'
+                        position: [ 1, 1., 0 ]
+                      - name: 'Left Motor Front'
+                        position: [ 1, -1., 0 ]
+                      - name: 'Right Motor Back'
+                        position: [ -1, 1., 0 ]
+                      - name: 'Left Motor Back'
+                        position: [ -1, -1., 0 ]