diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
index 9faae22ca4..8d3401a6f8 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
@@ -37,8 +37,8 @@
 using namespace matrix;
 using namespace time_literals;
 
-ActuatorEffectivenessHelicopter::ActuatorEffectivenessHelicopter(ModuleParams *parent)
-	: ModuleParams(parent)
+ActuatorEffectivenessHelicopter::ActuatorEffectivenessHelicopter(ModuleParams *parent, ActuatorType tail_actuator_type)
+	: ModuleParams(parent), _tail_actuator_type(tail_actuator_type)
 {
 	for (int i = 0; i < NUM_SWASH_PLATE_SERVOS_MAX; ++i) {
 		char buffer[17];
@@ -115,8 +115,8 @@ ActuatorEffectivenessHelicopter::getEffectivenessMatrix(Configuration &configura
 	// As the allocation is non-linear, we use updateSetpoint() instead of the matrix
 	configuration.addActuator(ActuatorType::MOTORS, Vector3f{}, Vector3f{});
 
-	// Tail (yaw) motor
-	configuration.addActuator(ActuatorType::MOTORS, Vector3f{}, Vector3f{});
+	// Tail (yaw) (either ESC or Servo)
+	configuration.addActuator(_tail_actuator_type, Vector3f{}, Vector3f{});
 
 	// N swash plate servos
 	_first_swash_plate_servo_index = configuration.num_actuators_matrix[0];
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp
index fc66e0044a..439e0f4ab9 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp
@@ -66,7 +66,7 @@ public:
 		float spoolup_time;
 	};
 
-	ActuatorEffectivenessHelicopter(ModuleParams *parent);
+	ActuatorEffectivenessHelicopter(ModuleParams *parent, ActuatorType tail_actuator_type);
 	virtual ~ActuatorEffectivenessHelicopter() = default;
 
 	bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override;
@@ -129,4 +129,6 @@ private:
 
 	uORB::Subscription _manual_control_switches_sub{ORB_ID(manual_control_switches)};
 	bool _main_motor_engaged{true};
+
+	const ActuatorType _tail_actuator_type;
 };
diff --git a/src/modules/control_allocator/ControlAllocator.cpp b/src/modules/control_allocator/ControlAllocator.cpp
index 2b419ab782..3124df9840 100644
--- a/src/modules/control_allocator/ControlAllocator.cpp
+++ b/src/modules/control_allocator/ControlAllocator.cpp
@@ -258,8 +258,12 @@ ControlAllocator::update_effectiveness_source()
 			tmp = new ActuatorEffectivenessCustom(this);
 			break;
 
-		case EffectivenessSource::HELICOPTER:
-			tmp = new ActuatorEffectivenessHelicopter(this);
+		case EffectivenessSource::HELICOPTER_TAIL_ESC:
+			tmp = new ActuatorEffectivenessHelicopter(this, ActuatorType::MOTORS);
+			break;
+
+		case EffectivenessSource::HELICOPTER_TAIL_SERVO:
+			tmp = new ActuatorEffectivenessHelicopter(this, ActuatorType::SERVOS);
 			break;
 
 		default:
diff --git a/src/modules/control_allocator/ControlAllocator.hpp b/src/modules/control_allocator/ControlAllocator.hpp
index 0281aa925e..843be9dbc4 100644
--- a/src/modules/control_allocator/ControlAllocator.hpp
+++ b/src/modules/control_allocator/ControlAllocator.hpp
@@ -153,7 +153,8 @@ private:
 		MOTORS_6DOF = 7,
 		MULTIROTOR_WITH_TILT = 8,
 		CUSTOM = 9,
-		HELICOPTER = 10,
+		HELICOPTER_TAIL_ESC = 10,
+		HELICOPTER_TAIL_SERVO = 11,
 	};
 
 	enum class FailureMode {
diff --git a/src/modules/control_allocator/module.yaml b/src/modules/control_allocator/module.yaml
index e48570dc2b..e5467515cb 100644
--- a/src/modules/control_allocator/module.yaml
+++ b/src/modules/control_allocator/module.yaml
@@ -27,7 +27,8 @@ parameters:
                 7: Motors (6DOF)
                 8: Multirotor with Tilt
                 9: Custom
-                10: Helicopter
+                10: Helicopter (tail ESC)
+                11: Helicopter (tail Servo)
             default: 0
 
         CA_METHOD:
@@ -1058,7 +1059,7 @@ mixer:
                             advanced: true
                             identifier: 'servo-scale-spoiler'
 
-            10: # Helicopter
+            10: # Helicopter (tail ESC)
                 actuators:
                   - actuator_type: 'motor'
                     count: 1
@@ -1087,3 +1088,31 @@ mixer:
                       - label: 'Throttle spoolup time'
                         name: COM_SPOOLUP_TIME
 
+            11: # Helicopter (tail Servo)
+              actuators:
+                - actuator_type: 'motor'
+                  count: 1
+                  item_label_prefix: ['Rotor']
+                - actuator_type: 'servo'
+                  item_label_prefix: ['Yaw tail Servo']
+                  count: 1
+                - actuator_type: 'servo'
+                  group_label: 'Swash plate servos'
+                  count: 'CA_SP0_COUNT'
+                  per_item_parameters:
+                    extra:
+                      - name: 'CA_SP0_ANG${i}'
+                        label: 'Angle'
+                      - name: 'CA_SP0_ARM_L${i}'
+                        label: 'Arm Length (relative)'
+                      - name: 'CA_SV_CS${i}_TRIM'
+                        label: 'Trim'
+                  parameters:
+                    - label: 'Yaw compensation scale based on collective pitch'
+                      name: CA_HELI_YAW_CP_S
+                    - label: 'Yaw compensation scale based on throttle'
+                      name: CA_HELI_YAW_TH_S
+                    - label: 'Main rotor turns counter-clockwise'
+                      name: CA_HELI_YAW_CCW
+                    - label: 'Throttle spoolup time'
+                      name: COM_SPOOLUP_TIME