diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index c0a8d7322f..ca00d1a67d 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -538,12 +538,16 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 			offboard_control_sp.ignore &=  ~(1 << i);
 			offboard_control_sp.ignore |=  (set_position_target_local_ned.type_mask & (1 << i));
 		}
+
 		offboard_control_sp.ignore &=  ~(1 << OFB_IGN_BIT_YAW);
-			offboard_control_sp.ignore |=  (set_position_target_local_ned.type_mask & (1 << 10)) <<
-					(OFB_IGN_BIT_YAW - 10);
+		if (set_position_target_local_ned.type_mask & (1 << 10)) {
+			offboard_control_sp.ignore |=  (1 << OFB_IGN_BIT_YAW);
+		}
+
 		offboard_control_sp.ignore &=  ~(1 << OFB_IGN_BIT_YAWRATE);
-			offboard_control_sp.ignore |=  (set_position_target_local_ned.type_mask & (1 << 11)) <<
-					(OFB_IGN_BIT_YAWRATE - 11);
+		if (set_position_target_local_ned.type_mask & (1 << 11)) {
+			offboard_control_sp.ignore |=  (1 << OFB_IGN_BIT_YAWRATE);
+		}
 
 		offboard_control_sp.timestamp = hrt_absolute_time();
 
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index d550dcc4cb..9cd609955b 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -205,6 +205,7 @@ private:
 
 	bool		_can_loiter_at_sp;			/**< flags if current position SP can be used to loiter */
 	bool		_pos_sp_triplet_updated;		/**< flags if position SP triplet needs to be published */
+	bool 		_pos_sp_triplet_published_invalid_once;	/**< flags if position SP triplet has been published once to UORB */
 
 	control::BlockParamFloat _param_loiter_radius;	/**< loiter radius for fixedwing */
 	control::BlockParamFloat _param_acceptance_radius;	/**< acceptance for takeoff */
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 5e98064996..035b0d18c8 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -137,6 +137,7 @@ Navigator::Navigator() :
 	_gpsFailure(this, "GPSF"),
 	_can_loiter_at_sp(false),
 	_pos_sp_triplet_updated(false),
+	_pos_sp_triplet_published_invalid_once(false),
 	_param_loiter_radius(this, "LOITER_RAD"),
 	_param_acceptance_radius(this, "ACC_RAD"),
 	_param_datalinkloss_obc(this, "DLL_OBC"),
@@ -469,9 +470,8 @@ Navigator::task_main()
 		}
 
 		/* if nothing is running, set position setpoint triplet invalid once */
-		static bool published_once = false;
-		if (_navigation_mode == nullptr && !published_once) {
-			published_once = true;
+		if (_navigation_mode == nullptr && !_pos_sp_triplet_published_invalid_once) {
+			_pos_sp_triplet_published_invalid_once = true;
 			_pos_sp_triplet.previous.valid = false;
 			_pos_sp_triplet.current.valid = false;
 			_pos_sp_triplet.next.valid = false;