diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp
index 69fd7f7de0c..ba4b3731829 100644
--- a/src/modules/vtol_att_control/tailsitter.cpp
+++ b/src/modules/vtol_att_control/tailsitter.cpp
@@ -277,11 +277,6 @@ void Tailsitter::update_fw_state()
 {
 	VtolType::update_fw_state();
 
-	// allow fw yawrate control via multirotor roll actuation. this is useful for vehicles
-	// which don't have a rudder to coordinate turns
-	if (_params->diff_thrust == 1) {
-		_mc_roll_weight = 1.0f;
-	}
 }
 
 /**
@@ -302,6 +297,11 @@ void Tailsitter::fill_actuator_outputs()
 	if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {
 		mc_out[actuator_controls_s::INDEX_THROTTLE] = fw_in[actuator_controls_s::INDEX_THROTTLE];
 
+		/* allow differential thrust if enabled */
+		if (_params->diff_thrust == 1) {
+			mc_out[actuator_controls_s::INDEX_ROLL] = fw_in[actuator_controls_s::INDEX_YAW] * _params->diff_thrust_scale;
+		}
+
 	} else {
 		mc_out[actuator_controls_s::INDEX_THROTTLE] = mc_in[actuator_controls_s::INDEX_THROTTLE];
 	}