diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp
index 37b3acb5e0..ed4d636809 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp
@@ -45,7 +45,15 @@ ActuatorEffectivenessRoverAckermann::getEffectivenessMatrix(Configuration &confi
 	}
 
 	configuration.addActuator(ActuatorType::MOTORS, Vector3f{}, Vector3f{1.f, 0.f, 0.f});
+	_motors_mask = 1u << 0;
 	configuration.addActuator(ActuatorType::SERVOS, Vector3f{0.f, 0.f, 1.f}, Vector3f{});
 	return true;
 }
 
+void ActuatorEffectivenessRoverAckermann::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
+		int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
+		const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
+{
+	stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp);
+}
+
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp
index c59ffc8741..294e453ec6 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp
@@ -43,6 +43,11 @@ public:
 
 	bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override;
 
+	void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
+			    ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
+			    const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
+
 	const char *name() const override { return "Rover (Ackermann)"; }
 private:
+	uint32_t _motors_mask{};
 };
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverDifferential.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverDifferential.cpp
index e9bc32477e..8e7c64baa8 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverDifferential.cpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverDifferential.cpp
@@ -46,6 +46,14 @@ ActuatorEffectivenessRoverDifferential::getEffectivenessMatrix(Configuration &co
 
 	configuration.addActuator(ActuatorType::MOTORS, Vector3f{0.f, 0.f, 0.5f}, Vector3f{0.5f, 0.f, 0.f});
 	configuration.addActuator(ActuatorType::MOTORS, Vector3f{0.f, 0.f, -0.5f}, Vector3f{0.5f, 0.f, 0.f});
+	_motors_mask = (1u << 0) | (1u << 1);
 	return true;
 }
 
+void ActuatorEffectivenessRoverDifferential::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
+		int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
+		const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
+{
+	stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp);
+}
+
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverDifferential.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverDifferential.hpp
index 6dde6b2bbd..fed0a7ddcf 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverDifferential.hpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverDifferential.hpp
@@ -43,6 +43,11 @@ public:
 
 	bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override;
 
+	void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
+			    ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
+			    const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
+
 	const char *name() const override { return "Rover (Differential)"; }
 private:
+	uint32_t _motors_mask{};
 };