diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
index 525a986eb5..a35a448fe5 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
@@ -212,6 +212,17 @@ ActuatorEffectivenessRotors::computeEffectivenessMatrix(const Geometry &geometry
 			effectiveness(j, i + actuator_start_index) = moment(j);
 			effectiveness(j + 3, i + actuator_start_index) = thrust(j);
 		}
+
+		if (geometry.three_dimensional_thrust_disabled) {
+			// Special case tiltrotor: instead of passing a 3D thrust vector (that would mostly have a x-component in FW, and z in MC),
+			// pass the vector magnitude as z-component, plus the collective tilt. Passing 3D thrust plus tilt is not feasible as they
+			// can't be allocated independently, and with the current controller it's not possible to have collective tilt calculated
+			// by the allocator directly.
+
+			effectiveness(0 + 3, i + actuator_start_index) = 0.f;
+			effectiveness(1 + 3, i + actuator_start_index) = 0.f;
+			effectiveness(2 + 3, i + actuator_start_index) = ct;
+		}
 	}
 
 	return num_actuators;
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
index f11a5204d7..7e118428c1 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
@@ -75,6 +75,7 @@ public:
 		int num_rotors{0};
 		bool propeller_torque_disabled{false};
 		bool propeller_torque_disabled_non_upwards{false}; ///< keeps propeller torque enabled for upward facing motors
+		bool three_dimensional_thrust_disabled{false}; ///< for handling of tiltrotor VTOL, as they pass in 1D thrust and collective tilt
 	};
 
 	ActuatorEffectivenessRotors(ModuleParams *parent, AxisConfiguration axis_config = AxisConfiguration::Configurable,
@@ -120,6 +121,8 @@ public:
 
 	void enablePropellerTorqueNonUpwards(bool enable) { _geometry.propeller_torque_disabled_non_upwards = !enable; }
 
+	void enableThreeDimensionalThrust(bool enable) { _geometry.three_dimensional_thrust_disabled = !enable; }
+
 	uint32_t getUpwardsMotors() const;
 
 private:
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
index f815b53e83..52bd0b48c8 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
@@ -61,6 +61,7 @@ ActuatorEffectivenessTiltrotorVTOL::getEffectivenessMatrix(Configuration &config
 	// MC motors
 	configuration.selected_matrix = 0;
 	_mc_rotors.enablePropellerTorque(!_tilts.hasYawControl());
+	_mc_rotors.enableThreeDimensionalThrust(false);
 
 	// Update matrix with tilts in vertical position when update is triggered by a manual
 	// configuration (parameter) change. This is to make sure the normalization
@@ -130,6 +131,18 @@ void ActuatorEffectivenessTiltrotorVTOL::updateSetpoint(const matrix::Vector<flo
 				}
 			}
 		}
+
+		// in FW directly use throttle sp
+		if (_flight_phase == FlightPhase::FORWARD_FLIGHT) {
+
+			actuator_controls_s actuator_controls_0;
+
+			if (_actuator_controls_0_sub.copy(&actuator_controls_0)) {
+				for (int i = 0; i < _first_tilt_idx; ++i) {
+					actuator_sp(i) = actuator_controls_0.control[actuator_controls_s::INDEX_THROTTLE];
+				}
+			}
+		}
 	}
 }
 
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
index 00d5c2ffda..fb7219973f 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
@@ -95,4 +95,5 @@ protected:
 	float _last_tilt_control{NAN};
 
 	uORB::Subscription _actuator_controls_1_sub{ORB_ID(actuator_controls_1)};
+	uORB::Subscription _actuator_controls_0_sub{ORB_ID(actuator_controls_0)};
 };
diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp
index ed79497788..6b32d0f901 100644
--- a/src/modules/vtol_att_control/tiltrotor.cpp
+++ b/src/modules/vtol_att_control/tiltrotor.cpp
@@ -514,8 +514,11 @@ void Tiltrotor::fill_actuator_outputs()
 		// for the legacy mixing system pubish FW throttle on the MC output
 		mc_out[actuator_controls_s::INDEX_THROTTLE] = fw_in[actuator_controls_s::INDEX_THROTTLE];
 
-		// FW thrust is allocated on mc_thrust_sp[0] for tiltrotor with dynamic control allocation
-		_thrust_setpoint_0->xyz[0] = fw_in[actuator_controls_s::INDEX_THROTTLE];
+		// Special case tiltrotor: instead of passing a 3D thrust vector (that would mostly have a x-component in FW, and z in MC),
+		// pass the vector magnitude as z-component, plus the collective tilt. Passing 3D thrust plus tilt is not feasible as they
+		// can't be allocated independently, and with the current controller it's not possible to have collective tilt calculated
+		// by the allocator directly.
+		_thrust_setpoint_0->xyz[2] = fw_in[actuator_controls_s::INDEX_THROTTLE];
 
 		/* allow differential thrust if enabled */
 		if (_params->diff_thrust == 1) {
@@ -525,9 +528,9 @@ void Tiltrotor::fill_actuator_outputs()
 
 	} else {
 
+		// see comment above for passing magnitude of thrust, not 3D thrust
 		mc_out[actuator_controls_s::INDEX_THROTTLE] = mc_in[actuator_controls_s::INDEX_THROTTLE] * _mc_throttle_weight;
-		_thrust_setpoint_0->xyz[2] = -mc_in[actuator_controls_s::INDEX_THROTTLE] * _mc_throttle_weight;
-		_thrust_setpoint_0->xyz[0] = -_thrust_setpoint_0->xyz[2] * sinf(_tilt_control * M_PI_2_F);
+		_thrust_setpoint_0->xyz[2] = mc_in[actuator_controls_s::INDEX_THROTTLE] * _mc_throttle_weight;
 	}
 
 	// Landing gear