diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index bc50a6703a..11f96514b9 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -63,8 +63,18 @@ VtolAttitudeControl::VtolAttitudeControl() :
 	_params.idle_pwm_mc = PWM_DEFAULT_MIN;
 	_params.vtol_motor_id = 0;
 
-	_params_handles.idle_pwm_mc = param_find("VT_IDLE_PWM_MC");
-	_params_handles.vtol_motor_id = param_find("VT_MOT_ID");
+	_params_handles.sys_ctrl_alloc = param_find("SYS_CTRL_ALLOC");
+	_params.ctrl_alloc = 0;
+	param_get(_params_handles.sys_ctrl_alloc, &_params.ctrl_alloc);
+
+	if (_params.ctrl_alloc != 1) {
+		// these are not used with dynamic control allocation
+		_params_handles.idle_pwm_mc = param_find("VT_IDLE_PWM_MC");
+		_params_handles.vtol_motor_id = param_find("VT_MOT_ID");
+		_params_handles.vt_mc_on_fmu = param_find("VT_MC_ON_FMU");
+		_params_handles.fw_motors_off = param_find("VT_FW_MOT_OFFID");
+	}
+
 	_params_handles.vtol_fw_permanent_stab = param_find("VT_FW_PERM_STAB");
 	_params_handles.vtol_type = param_find("VT_TYPE");
 	_params_handles.elevons_mc_lock = param_find("VT_ELEV_MC_LOCK");
@@ -84,7 +94,6 @@ VtolAttitudeControl::VtolAttitudeControl() :
 	_params_handles.airspeed_mode = param_find("FW_ARSP_MODE");
 	_params_handles.front_trans_timeout = param_find("VT_TRANS_TIMEOUT");
 	_params_handles.mpc_xy_cruise = param_find("MPC_XY_CRUISE");
-	_params_handles.fw_motors_off = param_find("VT_FW_MOT_OFFID");
 	_params_handles.diff_thrust = param_find("VT_FW_DIFTHR_EN");
 	_params_handles.diff_thrust_scale = param_find("VT_FW_DIFTHR_SC");
 	_params_handles.dec_to_pitch_ff = param_find("VT_B_DEC_FF");
@@ -93,7 +102,6 @@ VtolAttitudeControl::VtolAttitudeControl() :
 
 	_params_handles.pitch_min_rad = param_find("VT_PTCH_MIN");
 	_params_handles.forward_thrust_scale = param_find("VT_FWD_THRUST_SC");
-	_params_handles.vt_mc_on_fmu = param_find("VT_MC_ON_FMU");
 
 	_params_handles.vt_forward_thrust_enable_mode = param_find("VT_FWD_THRUST_EN");
 	_params_handles.mpc_land_alt1 = param_find("MPC_LAND_ALT1");
@@ -265,12 +273,17 @@ VtolAttitudeControl::parameters_update()
 {
 	float v;
 	int32_t l;
-	/* idle pwm for mc mode */
-	param_get(_params_handles.idle_pwm_mc, &_params.idle_pwm_mc);
 
-	/* vtol motor count */
-	param_get(_params_handles.vtol_motor_id, &_params.vtol_motor_id);
-	param_get(_params_handles.fw_motors_off, &_params.fw_motors_off);
+	if (_params.ctrl_alloc != 1) {
+		/* idle pwm for mc mode */
+		param_get(_params_handles.idle_pwm_mc, &_params.idle_pwm_mc);
+		param_get(_params_handles.vtol_motor_id, &_params.vtol_motor_id);
+		param_get(_params_handles.vt_mc_on_fmu, &l);
+		_params.vt_mc_on_fmu = l;
+
+		/* vtol motor count */
+		param_get(_params_handles.fw_motors_off, &_params.fw_motors_off);
+	}
 
 	/* vtol fw permanent stabilization */
 	param_get(_params_handles.vtol_fw_permanent_stab, &l);
@@ -355,9 +368,6 @@ VtolAttitudeControl::parameters_update()
 	param_get(_params_handles.dec_to_pitch_ff, &_params.dec_to_pitch_ff);
 	param_get(_params_handles.dec_to_pitch_i, &_params.dec_to_pitch_i);
 
-	param_get(_params_handles.vt_mc_on_fmu, &l);
-	_params.vt_mc_on_fmu = l;
-
 	param_get(_params_handles.vt_forward_thrust_enable_mode, &_params.vt_forward_thrust_enable_mode);
 	param_get(_params_handles.mpc_land_alt1, &_params.mpc_land_alt1);
 	param_get(_params_handles.mpc_land_alt2, &_params.mpc_land_alt2);
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.h b/src/modules/vtol_att_control/vtol_att_control_main.h
index 8929cb3bb0..a83dff2cc8 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.h
+++ b/src/modules/vtol_att_control/vtol_att_control_main.h
@@ -235,6 +235,7 @@ private:
 		param_t vt_forward_thrust_enable_mode;
 		param_t mpc_land_alt1;
 		param_t mpc_land_alt2;
+		param_t sys_ctrl_alloc;
 	} _params_handles{};
 
 	hrt_abstime _last_run_timestamp{0};
diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp
index 0b32d0d828..3cb501313e 100644
--- a/src/modules/vtol_att_control/vtol_type.cpp
+++ b/src/modules/vtol_att_control/vtol_type.cpp
@@ -83,50 +83,52 @@ VtolType::VtolType(VtolAttitudeControl *att_controller) :
 
 bool VtolType::init()
 {
-	const char *dev = _params->vt_mc_on_fmu ? PWM_OUTPUT1_DEVICE_PATH : PWM_OUTPUT0_DEVICE_PATH;
+	if (_params->ctrl_alloc != 1) {
+		const char *dev = _params->vt_mc_on_fmu ? PWM_OUTPUT1_DEVICE_PATH : PWM_OUTPUT0_DEVICE_PATH;
 
-	int fd = px4_open(dev, 0);
+		int fd = px4_open(dev, 0);
 
-	if (fd < 0) {
-		PX4_ERR("can't open %s", dev);
-		return false;
-	}
+		if (fd < 0) {
+			PX4_ERR("can't open %s", dev);
+			return false;
+		}
 
-	int ret = px4_ioctl(fd, PWM_SERVO_GET_MAX_PWM, (long unsigned int)&_max_mc_pwm_values);
-	_current_max_pwm_values = _max_mc_pwm_values;
+		int ret = px4_ioctl(fd, PWM_SERVO_GET_MAX_PWM, (long unsigned int)&_max_mc_pwm_values);
+		_current_max_pwm_values = _max_mc_pwm_values;
+
+		if (ret != PX4_OK) {
+			PX4_ERR("failed getting max values");
+			px4_close(fd);
+			return false;
+		}
+
+		ret = px4_ioctl(fd, PWM_SERVO_GET_MIN_PWM, (long unsigned int)&_min_mc_pwm_values);
+
+		if (ret != PX4_OK) {
+			PX4_ERR("failed getting min values");
+			px4_close(fd);
+			return false;
+		}
+
+		ret = px4_ioctl(fd, PWM_SERVO_GET_DISARMED_PWM, (long unsigned int)&_disarmed_pwm_values);
+
+		if (ret != PX4_OK) {
+			PX4_ERR("failed getting disarmed values");
+			px4_close(fd);
+			return false;
+		}
 
-	if (ret != PX4_OK) {
-		PX4_ERR("failed getting max values");
 		px4_close(fd);
-		return false;
-	}
 
-	ret = px4_ioctl(fd, PWM_SERVO_GET_MIN_PWM, (long unsigned int)&_min_mc_pwm_values);
-
-	if (ret != PX4_OK) {
-		PX4_ERR("failed getting min values");
-		px4_close(fd);
-		return false;
-	}
-
-	ret = px4_ioctl(fd, PWM_SERVO_GET_DISARMED_PWM, (long unsigned int)&_disarmed_pwm_values);
-
-	if (ret != PX4_OK) {
-		PX4_ERR("failed getting disarmed values");
-		px4_close(fd);
-		return false;
-	}
-
-	px4_close(fd);
-
-	_main_motor_channel_bitmap = generate_bitmap_from_channel_numbers(_params->vtol_motor_id);
-	_alternate_motor_channel_bitmap = generate_bitmap_from_channel_numbers(_params->fw_motors_off);
+		_main_motor_channel_bitmap = generate_bitmap_from_channel_numbers(_params->vtol_motor_id);
+		_alternate_motor_channel_bitmap = generate_bitmap_from_channel_numbers(_params->fw_motors_off);
 
 
-	// in order to get the main motors we take all motors and clear the alternate motor bits
-	for (int i = 0; i < 8; i++) {
-		if (_alternate_motor_channel_bitmap & (1 << i)) {
-			_main_motor_channel_bitmap &= ~(1 << i);
+		// in order to get the main motors we take all motors and clear the alternate motor bits
+		for (int i = 0; i < 8; i++) {
+			if (_alternate_motor_channel_bitmap & (1 << i)) {
+				_main_motor_channel_bitmap &= ~(1 << i);
+			}
 		}
 	}
 
@@ -322,6 +324,10 @@ void VtolType::check_quadchute_condition()
 
 bool VtolType::set_idle_mc()
 {
+	if (_params->ctrl_alloc == 1) {
+		return true;
+	}
+
 	unsigned pwm_value = _params->idle_pwm_mc;
 	struct pwm_output_values pwm_values {};
 
@@ -341,6 +347,10 @@ bool VtolType::set_idle_mc()
 
 bool VtolType::set_idle_fw()
 {
+	if (_params->ctrl_alloc == 1) {
+		return true;
+	}
+
 	struct pwm_output_values pwm_values {};
 
 	for (int i = 0; i < num_outputs_max; i++) {
@@ -390,12 +400,20 @@ bool VtolType::apply_pwm_limits(struct pwm_output_values &pwm_values, pwm_limit_
 
 void VtolType::set_all_motor_state(const motor_state target_state, const int value)
 {
+	if (_params->ctrl_alloc == 1) {
+		return;
+	}
+
 	set_main_motor_state(target_state, value);
 	set_alternate_motor_state(target_state, value);
 }
 
 void VtolType::set_main_motor_state(const motor_state target_state, const int value)
 {
+	if (_params->ctrl_alloc == 1) {
+		return;
+	}
+
 	if (_main_motor_state != target_state || target_state == motor_state::VALUE) {
 
 		if (set_motor_state(target_state, _main_motor_channel_bitmap, value)) {
@@ -406,6 +424,10 @@ void VtolType::set_main_motor_state(const motor_state target_state, const int va
 
 void VtolType::set_alternate_motor_state(const motor_state target_state, const int value)
 {
+	if (_params->ctrl_alloc == 1) {
+		return;
+	}
+
 	if (_alternate_motor_state != target_state || target_state == motor_state::VALUE) {
 
 		if (set_motor_state(target_state, _alternate_motor_channel_bitmap, value)) {
diff --git a/src/modules/vtol_att_control/vtol_type.h b/src/modules/vtol_att_control/vtol_type.h
index 5123e64dcc..fb34aac380 100644
--- a/src/modules/vtol_att_control/vtol_type.h
+++ b/src/modules/vtol_att_control/vtol_type.h
@@ -48,6 +48,7 @@
 #include <drivers/drv_pwm_output.h>
 
 struct Params {
+	int32_t ctrl_alloc;
 	int32_t idle_pwm_mc;			// pwm value for idle in mc mode
 	int32_t vtol_motor_id;
 	int32_t vtol_type;