diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.hpp
index 0ddd4988f3..3dfea4f75f 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.hpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.hpp
@@ -153,7 +153,7 @@ public:
 	/**
 	 * Query if the roll, pitch and yaw columns of the mixing matrix should be normalized
 	 */
-	virtual void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const
+	virtual void getNormalizeAsPlanarMC(bool normalize[MAX_NUM_MATRICES]) const
 	{
 		for (int i = 0; i < MAX_NUM_MATRICES; ++i) {
 			normalize[i] = false;
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp
index 848c8b8853..d886f05945 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp
@@ -50,7 +50,7 @@ public:
 		allocation_method_out[0] = AllocationMethod::SEQUENTIAL_DESATURATION;
 	}
 
-	void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
+	void getNormalizeAsPlanarMC(bool normalize[MAX_NUM_MATRICES]) const override
 	{
 		normalize[0] = true;
 	}
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp
index e0a355edd2..dcaa1c2f22 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp
@@ -49,7 +49,7 @@ public:
 		allocation_method_out[0] = AllocationMethod::SEQUENTIAL_DESATURATION;
 	}
 
-	void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
+	void getNormalizeAsPlanarMC(bool normalize[MAX_NUM_MATRICES]) const override
 	{
 		normalize[0] = true;
 	}
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
index 3844df4c84..052f7d44bb 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
@@ -90,7 +90,7 @@ public:
 		allocation_method_out[0] = AllocationMethod::SEQUENTIAL_DESATURATION;
 	}
 
-	void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
+	void getNormalizeAsPlanarMC(bool normalize[MAX_NUM_MATRICES]) const override
 	{
 		normalize[0] = true;
 	}
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp
index 0e5d1bfa44..988f102474 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp
@@ -67,7 +67,7 @@ public:
 		allocation_method_out[1] = AllocationMethod::PSEUDO_INVERSE;
 	}
 
-	void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
+	void getNormalizeAsPlanarMC(bool normalize[MAX_NUM_MATRICES]) const override
 	{
 		normalize[0] = true;
 		normalize[1] = false;
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp
index 604f05f9e0..bb25c931ba 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp
@@ -64,7 +64,7 @@ public:
 		allocation_method_out[1] = AllocationMethod::PSEUDO_INVERSE;
 	}
 
-	void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
+	void getNormalizeAsPlanarMC(bool normalize[MAX_NUM_MATRICES]) const override
 	{
 		normalize[0] = true;
 		normalize[1] = false;
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
index 310d937064..e70e373bc2 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
@@ -70,7 +70,7 @@ public:
 		allocation_method_out[1] = AllocationMethod::PSEUDO_INVERSE;
 	}
 
-	void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
+	void getNormalizeAsPlanarMC(bool normalize[MAX_NUM_MATRICES]) const override
 	{
 		normalize[0] = true;
 		normalize[1] = false;
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessUUV.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessUUV.hpp
index 57e86f9436..41165ce16c 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessUUV.hpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessUUV.hpp
@@ -49,7 +49,7 @@ public:
 		allocation_method_out[0] = AllocationMethod::SEQUENTIAL_DESATURATION;
 	}
 
-	void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
+	void getNormalizeAsPlanarMC(bool normalize[MAX_NUM_MATRICES]) const override
 	{
 		normalize[0] = true;
 	}
diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp b/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp
index c60784a03c..123f34b9de 100644
--- a/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp
+++ b/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp
@@ -226,7 +226,7 @@ public:
 
 	int numConfiguredActuators() const { return _num_actuators; }
 
-	void setNormalizeRPY(bool normalize_rpy) { _normalize_rpy = normalize_rpy; }
+	void setNormalizeAsPlanarMC(bool normalize_as_mc) { _normalize_matrix_as_planar_mc = normalize_as_mc; }
 
 protected:
 	friend class ControlAllocator; // for _actuator_sp
@@ -242,6 +242,6 @@ protected:
 	matrix::Vector<float, NUM_AXES> _control_sp;   		///< Control setpoint
 	matrix::Vector<float, NUM_AXES> _control_trim; 		///< Control at trim actuator values
 	int _num_actuators{0};
-	bool _normalize_rpy{false};				///< if true, normalize roll, pitch and yaw columns
+	bool _normalize_matrix_as_planar_mc{false};		///< if true, normalize roll, pitch and yaw columns optimized for planar MC
 	bool _had_actuator_failure{false};
 };
diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp b/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp
index ee1d2dceb2..6f51b42471 100644
--- a/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp
+++ b/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp
@@ -73,7 +73,7 @@ void
 ControlAllocationPseudoInverse::updateControlAllocationMatrixScale()
 {
 	// Same scale on roll and pitch
-	if (_normalize_rpy) {
+	if (_normalize_matrix_as_planar_mc) {
 
 		int num_non_zero_roll_torque = 0;
 		int num_non_zero_pitch_torque = 0;
diff --git a/src/modules/control_allocator/ControlAllocator.cpp b/src/modules/control_allocator/ControlAllocator.cpp
index 3399bd6190..9c63cf2da9 100644
--- a/src/modules/control_allocator/ControlAllocator.cpp
+++ b/src/modules/control_allocator/ControlAllocator.cpp
@@ -168,8 +168,8 @@ ControlAllocator::update_allocation_method(bool force)
 		AllocationMethod desired_methods[ActuatorEffectiveness::MAX_NUM_MATRICES];
 		_actuator_effectiveness->getDesiredAllocationMethod(desired_methods);
 
-		bool normalize_rpy[ActuatorEffectiveness::MAX_NUM_MATRICES];
-		_actuator_effectiveness->getNormalizeRPY(normalize_rpy);
+		bool normalize_as_planar_mc[ActuatorEffectiveness::MAX_NUM_MATRICES];
+		_actuator_effectiveness->getNormalizeAsPlanarMC(normalize_as_planar_mc);
 
 		for (int i = 0; i < _num_control_allocation; ++i) {
 			AllocationMethod method = configured_method;
@@ -197,7 +197,7 @@ ControlAllocator::update_allocation_method(bool force)
 				_num_control_allocation = 0;
 
 			} else {
-				_control_allocation[i]->setNormalizeRPY(normalize_rpy[i]);
+				_control_allocation[i]->setNormalizeAsPlanarMC(normalize_as_planar_mc[i]);
 				_control_allocation[i]->setActuatorSetpoint(actuator_sp[i]);
 			}
 		}