diff --git a/src/drone/stacked.rs b/src/drone/stacked.rs
index 54083a6..7b87eec 100644
--- a/src/drone/stacked.rs
+++ b/src/drone/stacked.rs
@@ -100,7 +100,7 @@ impl DroneController for StackedController {
             setpoint = module.process(setpoint, &self.drone_state, dt, is_first_layer);
         }
 
-        return self.mixer.mix_throttle_authority(0.5, setpoint).0;
+        return self.mixer.mix(0.5, setpoint).0;
     }
 
     fn as_any(&self) -> &dyn Any {