diff --git a/src/lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp b/src/lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp
index a91b80cbbb..19c0034d1c 100644
--- a/src/lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp
+++ b/src/lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp
@@ -212,10 +212,6 @@ public:
 			stopped_motors_mask |= _forwards_motors_mask;
 		}
 
-		if (_upwards_motors_stopped_by_thrust) {
-			stopped_motors_mask |= _upwards_motors_mask;
-		}
-
 		// They can also be stopped in the ControlAllocator, due to
 		// motor failure. The difference is that the stopped mask in the
 		// allocator applies after the slew rate, and the mask here
@@ -235,11 +231,6 @@ public:
 		_forwards_motors_stopped_by_thrust = stopped;
 	}
 
-	virtual void setUpwardsMotorsStoppedByThrust(bool stopped)
-	{
-		_upwards_motors_stopped_by_thrust = stopped;
-	}
-
 protected:
 	uint32_t _upwards_motors_mask{};
 	uint32_t _forwards_motors_mask{};
@@ -248,5 +239,4 @@ protected:
 	uint32_t _stopped_motors_mask_due_to_flight_phase{0};
 
 	bool _forwards_motors_stopped_by_thrust{false};
-	bool _upwards_motors_stopped_by_thrust{false};
 };
diff --git a/src/modules/control_allocator/ControlAllocator.cpp b/src/modules/control_allocator/ControlAllocator.cpp
index 3ab965434b..416a3c0aef 100644
--- a/src/modules/control_allocator/ControlAllocator.cpp
+++ b/src/modules/control_allocator/ControlAllocator.cpp
@@ -399,21 +399,15 @@ ControlAllocator::Run()
 		// As defined in VehicleThrustSetpoint.msg, a thrust of NaN means stopping the motor.
 		// No sideways motors implemented for now...
 		const bool stop_forwards_motors = std::isnan(_thrust_sp(0));
-		const bool stop_upwards_motors = std::isnan(_thrust_sp(2));
 
 		// also only if it is actually about motors....
 		_actuator_effectiveness->setForwardsMotorsStoppedByThrust(stop_forwards_motors);
-		_actuator_effectiveness->setUpwardsMotorsStoppedByThrust(stop_upwards_motors);
 
 		// Now that the intent of stopping motors is stored, transform
 		// NaN to 0 to represent physical thrust again
 		if (stop_forwards_motors) {
 			_thrust_sp(0) = 0.f;
 		}
-
-		if (stop_upwards_motors) {
-			_thrust_sp(2) = 0.f;
-		}
 	}
 
 	if (do_update) {