diff --git a/src/modules/control_allocator/ControlAllocator.cpp b/src/modules/control_allocator/ControlAllocator.cpp
index ab25fd5381..07c9a9f5a3 100644
--- a/src/modules/control_allocator/ControlAllocator.cpp
+++ b/src/modules/control_allocator/ControlAllocator.cpp
@@ -398,16 +398,16 @@ ControlAllocator::Run()
 
 			_control_allocation[i]->clipActuatorSetpoint();
 		}
+	}
 
-		// Publish actuator setpoint and allocator status
-		publish_actuator_controls();
+	// Publish actuator setpoint and allocator status
+	publish_actuator_controls();
 
-		// Publish status at limited rate, as it's somewhat expensive and we use it for slower dynamics
-		// (i.e. anti-integrator windup)
-		if (now - _last_status_pub >= 5_ms) {
-			publish_control_allocator_status();
-			_last_status_pub = now;
-		}
+	// Publish status at limited rate, as it's somewhat expensive and we use it for slower dynamics
+	// (i.e. anti-integrator windup)
+	if (now - _last_status_pub >= 5_ms) {
+		publish_control_allocator_status();
+		_last_status_pub = now;
 	}
 
 	perf_end(_loop_perf);