diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 291ab39a14..31c1ef58d4 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -642,16 +642,17 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 	struct offboard_control_mode_s offboard_control_mode;
 	memset(&offboard_control_mode, 0, sizeof(offboard_control_mode));//XXX breaks compatibility with multiple setpoints
 
-	bool values_finite = PX4_ISFINITE(set_position_target_local_ned.x) &&
-						 PX4_ISFINITE(set_position_target_local_ned.y) &&
-						 PX4_ISFINITE(set_position_target_local_ned.z) &&
-						 PX4_ISFINITE(set_position_target_local_ned.vx) &&
-						 PX4_ISFINITE(set_position_target_local_ned.vy) &&
-						 PX4_ISFINITE(set_position_target_local_ned.vz) &&
-						 PX4_ISFINITE(set_position_target_local_ned.afx) &&
-						 PX4_ISFINITE(set_position_target_local_ned.afy) &&
-						 PX4_ISFINITE(set_position_target_local_ned.afz) &&
-						 PX4_ISFINITE(set_position_target_local_ned.yaw);
+	bool values_finite = 
+		PX4_ISFINITE(set_position_target_local_ned.x) &&
+		PX4_ISFINITE(set_position_target_local_ned.y) &&
+		PX4_ISFINITE(set_position_target_local_ned.z) &&
+		PX4_ISFINITE(set_position_target_local_ned.vx) &&
+		PX4_ISFINITE(set_position_target_local_ned.vy) &&
+		PX4_ISFINITE(set_position_target_local_ned.vz) &&
+		PX4_ISFINITE(set_position_target_local_ned.afx) &&
+		PX4_ISFINITE(set_position_target_local_ned.afy) &&
+		PX4_ISFINITE(set_position_target_local_ned.afz) &&
+		PX4_ISFINITE(set_position_target_local_ned.yaw);
 
 	/* Only accept messages which are intended for this system */
 	if ((mavlink_system.sysid == set_position_target_local_ned.target_system ||
@@ -763,14 +764,12 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 					}
 					//XXX handle global pos setpoints (different MAV frames)
 
-					if (valid) {
-						if (_pos_sp_triplet_pub == nullptr) {
-							_pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet),
-									&pos_sp_triplet);
-						} else {
-							orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub,
-									&pos_sp_triplet);
-						}
+					if (_pos_sp_triplet_pub == nullptr) {
+						_pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet),
+								&pos_sp_triplet);
+					} else {
+						orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub,
+								&pos_sp_triplet);
 					}
 
 				}
@@ -793,10 +792,21 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
 	struct actuator_controls_s actuator_controls;
 	memset(&actuator_controls, 0, sizeof(actuator_controls));//XXX breaks compatibility with multiple setpoints
 
+	bool values_finite = 
+		PX4_ISFINITE(set_actuator_control_target.controls[0]) &&
+		PX4_ISFINITE(set_actuator_control_target.controls[1]) &&
+		PX4_ISFINITE(set_actuator_control_target.controls[2]) &&
+		PX4_ISFINITE(set_actuator_control_target.controls[3]) &&
+		PX4_ISFINITE(set_actuator_control_target.controls[4]) &&
+		PX4_ISFINITE(set_actuator_control_target.controls[5]) &&
+		PX4_ISFINITE(set_actuator_control_target.controls[6]) &&
+		PX4_ISFINITE(set_actuator_control_target.controls[7]);
+
 	if ((mavlink_system.sysid == set_actuator_control_target.target_system ||
 		    set_actuator_control_target.target_system == 0) &&
 		(mavlink_system.compid == set_actuator_control_target.target_component ||
-		    set_actuator_control_target.target_component == 0)) {
+		    set_actuator_control_target.target_component == 0) &&
+		values_finite) {
 
 		/* ignore all since we are setting raw actuators here */
 		offboard_control_mode.ignore_thrust             = true;
@@ -886,11 +896,22 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 	mavlink_set_attitude_target_t set_attitude_target;
 	mavlink_msg_set_attitude_target_decode(msg, &set_attitude_target);
 
+	bool values_finite =
+		PX4_ISFINITE(set_attitude_target.q[0]) &&
+		PX4_ISFINITE(set_attitude_target.q[1]) &&
+		PX4_ISFINITE(set_attitude_target.q[2]) &&
+		PX4_ISFINITE(set_attitude_target.q[3]) &&
+		PX4_ISFINITE(set_attitude_target.thrust) &&
+		PX4_ISFINITE(set_attitude_target.body_roll_rate) &&
+		PX4_ISFINITE(set_attitude_target.body_pitch_rate) &&
+		PX4_ISFINITE(set_attitude_target.body_yaw_rate);
+
 	/* Only accept messages which are intended for this system */
 	if ((mavlink_system.sysid == set_attitude_target.target_system ||
 				set_attitude_target.target_system == 0) &&
 			(mavlink_system.compid == set_attitude_target.target_component ||
-			 set_attitude_target.target_component == 0)) {
+				set_attitude_target.target_component == 0) &&
+			values_finite) {
 
 		/* set correct ignore flags for thrust field: copy from mavlink message */
 		_offboard_control_mode.ignore_thrust = (bool)(set_attitude_target.type_mask & (1 << 6));