diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp b/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp
index cc6d76486c..55b5a870fa 100644
--- a/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp
+++ b/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp
@@ -143,7 +143,7 @@ public:
 	 * @return Control vector
 	 */
 	matrix::Vector<float, NUM_AXES> getAllocatedControl() const
-	{ return (_effectiveness * _actuator_sp).emult(_control_allocation_scale); }
+	{ return (_effectiveness * (_actuator_sp - _actuator_trim)).emult(_control_allocation_scale); }
 
 	/**
 	 * Get the control effectiveness matrix