diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 72633bee59..3a787521a1 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -1178,9 +1178,8 @@ PX4FMU::cycle()
 					_mixers->set_max_delta_out_once(delta_out_max);
 				}
 
-				if (_thr_mdl_fac > FLT_EPSILON) {
-					_mixers->set_thrust_factor(_thr_mdl_fac);
-				}
+				_mixers->set_thrust_factor(_thr_mdl_fac);
+				_mixers->set_airmode(_airmode);
 
 				/* do mixing */
 				float outputs[_max_actuators];
@@ -1246,8 +1245,6 @@ PX4FMU::cycle()
 					orb_publish_auto(ORB_ID(multirotor_motor_limits), &_to_mixer_status, &motor_limits, &_class_instance, ORB_PRIO_DEFAULT);
 				}
 
-				_mixers->set_airmode(_airmode);
-
 				// use first valid timestamp_sample for latency tracking
 				for (int i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
 					const bool required = _groups_required & (1 << i);
diff --git a/src/drivers/uavcan/uavcan_main.cpp b/src/drivers/uavcan/uavcan_main.cpp
index 4d480ca50b..e43ada2421 100644
--- a/src/drivers/uavcan/uavcan_main.cpp
+++ b/src/drivers/uavcan/uavcan_main.cpp
@@ -425,6 +425,12 @@ void UavcanNode::update_params()
 	if (param_handle != PARAM_INVALID) {
 		param_get(param_handle, &_airmode);
 	}
+
+	param_handle = param_find("THR_MDL_FAC");
+
+	if (param_handle != PARAM_INVALID) {
+		param_get(param_handle, &_thr_mdl_factor);
+	}
 }
 
 int UavcanNode::start_fw_server()
@@ -905,6 +911,7 @@ int UavcanNode::run()
 				// but this driver could well serve multiple groups.
 				unsigned num_outputs_max = 8;
 
+				_mixers->set_thrust_factor(_thr_mdl_factor);
 				_mixers->set_airmode(_airmode);
 
 				// Do mixing
diff --git a/src/drivers/uavcan/uavcan_main.hpp b/src/drivers/uavcan/uavcan_main.hpp
index 13d4606e75..f84b85cf5b 100644
--- a/src/drivers/uavcan/uavcan_main.hpp
+++ b/src/drivers/uavcan/uavcan_main.hpp
@@ -211,6 +211,7 @@ private:
 	perf_counter_t			_perf_control_latency;
 
 	Mixer::Airmode 			_airmode = Mixer::Airmode::disabled;
+	float 					_thr_mdl_factor = 0.0f;
 
 	// index into _poll_fds for each _control_subs handle
 	uint8_t				_poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];
diff --git a/src/lib/mixer/mixer.h b/src/lib/mixer/mixer.h
index 99113ad5b3..5aa632421e 100644
--- a/src/lib/mixer/mixer.h
+++ b/src/lib/mixer/mixer.h
@@ -128,6 +128,7 @@
 #pragma once
 
 #include <stdint.h>
+#include <lib/mathlib/mathlib.h>
 
 /** simple channel scaler */
 struct mixer_scaler_s {
@@ -707,7 +708,10 @@ public:
 	 *
 	 * @param[in]  val   The value
 	 */
-	void			set_thrust_factor(float val) override { _thrust_factor = val; }
+	void			set_thrust_factor(float val) override
+	{
+		_thrust_factor = math::constrain(val, 0.0f, 1.0f);
+	}
 
 	void 			set_airmode(Airmode airmode) override;