diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp
index f6dc25d1c7..94150ec4a1 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp
@@ -55,7 +55,8 @@ ActuatorEffectivenessTailsitterVTOL::getEffectivenessMatrix(Configuration &confi
 
 	// MC motors
 	configuration.selected_matrix = 0;
-	_mc_rotors.enableYawControl(true); //TODO enable yaw with elevons
+	_mc_rotors.enableYawControl(_mc_rotors.geometry().num_rotors > 3); // enable MC yaw control if more than 3 rotors
+
 	_mc_rotors.getEffectivenessMatrix(configuration, true);
 
 	// Control Surfaces