diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index e9f98b1636..f9ec1a5559 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -228,6 +228,7 @@ void event_task_ap(void)
   modules_core_event_task();
   modules_sensors_event_task();
   modules_estimation_event_task();
+  modules_control_event_task();
   modules_datalink_event_task();
   modules_default_event_task();
 
diff --git a/sw/airborne/firmwares/rotorcraft/main_ap.c b/sw/airborne/firmwares/rotorcraft/main_ap.c
index f51bb00553..f6794c5a5f 100644
--- a/sw/airborne/firmwares/rotorcraft/main_ap.c
+++ b/sw/airborne/firmwares/rotorcraft/main_ap.c
@@ -261,6 +261,7 @@ void main_event(void)
   if (autopilot.use_rc) {
     RadioControlEvent(autopilot_on_rc_frame);
   }
+  modules_control_event_task();
   modules_actuators_event_task();
   modules_datalink_event_task();
   modules_default_event_task();
diff --git a/sw/airborne/firmwares/rover/main_ap.c b/sw/airborne/firmwares/rover/main_ap.c
index 7ee4385f67..c10b2d694c 100644
--- a/sw/airborne/firmwares/rover/main_ap.c
+++ b/sw/airborne/firmwares/rover/main_ap.c
@@ -204,6 +204,7 @@ void main_event(void)
   if (autopilot.use_rc) {
     RadioControlEvent(autopilot_on_rc_frame);
   }
+  modules_control_event_task();
   modules_actuators_event_task();
   modules_datalink_event_task();
   modules_default_event_task();