diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp
index e2e7d2e883..11cab60aa0 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp
@@ -145,6 +145,8 @@ ActuatorEffectivenessMultirotor::computeEffectivenessMatrix(const MultirotorGeom
 {
 	int num_actuators = 0;
 
+	effectiveness.setZero();
+
 	for (size_t i = 0; i < NUM_ROTORS_MAX; i++) {
 		// Get rotor axis
 		matrix::Vector3f axis(