diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp
index 7f37bc2f69..0f4468d2ec 100644
--- a/src/modules/vtol_att_control/standard.cpp
+++ b/src/modules/vtol_att_control/standard.cpp
@@ -419,7 +419,7 @@ void Standard::fill_actuator_outputs()
 	if (_vtol_schedule.flight_mode != MC_MODE) {
 		// roll
 		_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
-			-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
+			_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
 
 		// pitch
 		_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
@@ -442,7 +442,7 @@ void Standard::fill_actuator_outputs()
 		} else {
 			// roll
 			_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
-				-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
+				_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
 
 			// pitch
 			_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp
index 974f1c2826..aebe026be7 100644
--- a/src/modules/vtol_att_control/tailsitter.cpp
+++ b/src/modules/vtol_att_control/tailsitter.cpp
@@ -302,7 +302,7 @@ void Tailsitter::fill_actuator_outputs()
 
 	} else {
 		_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
-			-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
+			_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
 		_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
 			_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH];
 	}
diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp
index c4ca73e774..69558f5781 100644
--- a/src/modules/vtol_att_control/tiltrotor.cpp
+++ b/src/modules/vtol_att_control/tiltrotor.cpp
@@ -373,7 +373,7 @@ void Tiltrotor::fill_actuator_outputs()
 
 	} else {
 		_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
-			-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
+			_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
 		_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
 			_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH];
 		_actuators_out_1->control[actuator_controls_s::INDEX_YAW] =