diff --git a/ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl.main.mix b/ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl.main.mix
index f57230b4a8..54fd3c51f2 100644
--- a/ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl.main.mix
+++ b/ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl.main.mix
@@ -8,22 +8,22 @@ R: 4x
 # tilt servo motor 1
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
 
 # tilt servo motor 2
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
 
 # tilt servo motor 3
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
 
 # tilt servo motor 4
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
 
 # mixer for the left aileron
 M: 1
diff --git a/ROMFS/px4fmu_common/mixers/claire.aux.mix b/ROMFS/px4fmu_common/mixers/claire.aux.mix
index 7213daf2a2..014e94cf8a 100644
--- a/ROMFS/px4fmu_common/mixers/claire.aux.mix
+++ b/ROMFS/px4fmu_common/mixers/claire.aux.mix
@@ -10,7 +10,7 @@ Tilt mechanism servo mixer
 M: 1
 
 
-S: 1 4  10000  10000      0 -10000  10000
+S: 1 8  10000  10000      0 -10000  10000
 
 
 
diff --git a/ROMFS/px4fmu_common/mixers/firefly6.aux.mix b/ROMFS/px4fmu_common/mixers/firefly6.aux.mix
index 9a2d3c7747..9007a23b96 100644
--- a/ROMFS/px4fmu_common/mixers/firefly6.aux.mix
+++ b/ROMFS/px4fmu_common/mixers/firefly6.aux.mix
@@ -6,7 +6,7 @@
 Tilt mechanism servo mixer
 ---------------------------
 M: 1
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
 
 Elevon mixers
 -------------
diff --git a/ROMFS/px4fmu_common/mixers/vtol_TTTTAAER.aux.mix b/ROMFS/px4fmu_common/mixers/vtol_TTTTAAER.aux.mix
index 5294180a91..fe684c70bc 100644
--- a/ROMFS/px4fmu_common/mixers/vtol_TTTTAAER.aux.mix
+++ b/ROMFS/px4fmu_common/mixers/vtol_TTTTAAER.aux.mix
@@ -6,19 +6,19 @@
 ---------------------------
 # front left up:2000 down:1000
 M: 1
-S: 1 4      0 -20000  10000 -10000  10000
+S: 1 8      0 -20000  10000 -10000  10000
 
 # front right up:1000 down:2000
 M: 1
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
 
 # rear left up:2000 down:1000
 M: 1
-S: 1 4      0 -20000  10000 -10000  10000
+S: 1 8      0 -20000  10000 -10000  10000
 
 # rear right up:1000 down:2000
 M: 1
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
 
 
 # Aileron mixer
diff --git a/ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix b/ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix
index eaf4236034..086150c257 100644
--- a/ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix
+++ b/ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix
@@ -10,12 +10,12 @@ Tilt mechanism servo mixer
 ---------------------------
 #RIGHT up:2000 down:1000
 M: 2
-S: 1 4      0 -20000  10000 -10000  10000
+S: 1 8      0 -20000  10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000
 
 #LEFT up:1000 down:2000
 M: 2
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000
 
 Elevon mixers
diff --git a/ROMFS/px4fmu_test/mixers/vtol2_test.mix b/ROMFS/px4fmu_test/mixers/vtol2_test.mix
index d49070f5b9..f9ed50e6c9 100644
--- a/ROMFS/px4fmu_test/mixers/vtol2_test.mix
+++ b/ROMFS/px4fmu_test/mixers/vtol2_test.mix
@@ -10,13 +10,13 @@ Tilt mechanism servo mixer
 #RIGHT up:2000 down:1000
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 4      0 -20000   9000 -10000  10000
+S: 1 8      0 -20000   9000 -10000  10000
 S: 0 2   4000   4000      0 -10000  10000
 
 #LEFT up:1000 down:2000
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000  -10000 -10000  10000
+S: 1 8      0  20000  -10000 -10000  10000
 S: 0 2   4000   4000      0 -10000  10000
 
 Elevon mixers
diff --git a/ROMFS/px4fmu_test/mixers/vtol_convergence.main.mix b/ROMFS/px4fmu_test/mixers/vtol_convergence.main.mix
index a2d8a90621..ed9b69360b 100644
--- a/ROMFS/px4fmu_test/mixers/vtol_convergence.main.mix
+++ b/ROMFS/px4fmu_test/mixers/vtol_convergence.main.mix
@@ -10,13 +10,13 @@ Tilt mechanism servo mixer
 #RIGHT up:2000 down:1000
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 4      0 -20000  10000 -10000  10000
+S: 1 8      0 -20000  10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000
 
 #LEFT up:1000 down:2000
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000
 
 Elevon mixers
diff --git a/msg/actuator_controls.msg b/msg/actuator_controls.msg
index 25ff45f432..ec8203c9ab 100644
--- a/msg/actuator_controls.msg
+++ b/msg/actuator_controls.msg
@@ -11,6 +11,7 @@ uint8 INDEX_AIRBRAKES = 6
 uint8 INDEX_LANDING_GEAR = 7
 uint8 INDEX_GIMBAL_SHUTTER = 3
 uint8 INDEX_CAMERA_ZOOM = 4
+uint8 INDEX_COLLECTIVE_TILT = 8
 
 uint8 GROUP_INDEX_ATTITUDE = 0
 uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1
@@ -19,7 +20,7 @@ uint8 GROUP_INDEX_MANUAL_PASSTHROUGH = 3
 uint8 GROUP_INDEX_PAYLOAD = 6
 
 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
-float32[8] control
+float32[9] control
 
 # TOPICS actuator_controls actuator_controls_0 actuator_controls_1 actuator_controls_2 actuator_controls_3
 # TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc
diff --git a/msg/vehicle_attitude_setpoint.msg b/msg/vehicle_attitude_setpoint.msg
index 065fa12314..aeb0f2aedd 100644
--- a/msg/vehicle_attitude_setpoint.msg
+++ b/msg/vehicle_attitude_setpoint.msg
@@ -24,4 +24,9 @@ uint8 FLAPS_OFF = 0     	# no flaps
 uint8 FLAPS_LAND = 1    	# landing config flaps
 uint8 FLAPS_TAKEOFF = 2 	# take-off config flaps
 
+uint8 apply_spoilers		# spoiler config specifier
+uint8 SPOILERS_OFF = 0     	# no spoilers
+uint8 SPOILERS_LAND = 1    	# landing config spoiler
+uint8 SPOILERS_DESCEND = 2 	# descend config spoiler
+
 # TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
index c92ccedaf6..df9fa7162b 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
@@ -109,7 +109,7 @@ void ActuatorEffectivenessTiltrotorVTOL::updateSetpoint(const matrix::Vector<flo
 		actuator_controls_s actuator_controls_1;
 
 		if (_actuator_controls_1_sub.copy(&actuator_controls_1)) {
-			float control_tilt = actuator_controls_1.control[4] * 2.f - 1.f;
+			float control_tilt = actuator_controls_1.control[actuator_controls_s::INDEX_COLLECTIVE_TILT] * 2.f - 1.f;
 
 			// set control_tilt to exactly -1 or 1 if close to these end points
 			control_tilt = control_tilt < -0.99f ? -1.f : control_tilt;
diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp
index ae4b843fef..2bbe68dff6 100644
--- a/src/modules/vtol_att_control/tiltrotor.cpp
+++ b/src/modules/vtol_att_control/tiltrotor.cpp
@@ -531,7 +531,7 @@ void Tiltrotor::fill_actuator_outputs()
 	}
 
 	// Fixed wing output
-	fw_out[4] = _tilt_control;
+	fw_out[actuator_controls_s::INDEX_COLLECTIVE_TILT] = _tilt_control;
 
 	if (_params->elevons_mc_lock && _vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
 		fw_out[actuator_controls_s::INDEX_ROLL]  = 0;