diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
index 66c58f74fd..1d4df87fe3 100644
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
+++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
@@ -418,9 +418,10 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 				att.pitch = euler[1];
 				att.yaw = euler[2];
 
-				att.rollspeed = x_aposteriori[0];
-				att.pitchspeed = x_aposteriori[1];
-				att.yawspeed = x_aposteriori[2];
+				// XXX replace with x_apo after fix to filter
+				att.rollspeed = raw.gyro_rad_s[0]; //x_aposteriori[0];
+				att.pitchspeed = raw.gyro_rad_s[1]; //x_aposteriori[1];
+				att.yawspeed = raw.gyro_rad_s[2]; //x_aposteriori[2];
 
 				/* copy offsets */
 				memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets));
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c
index 57512bfd55..7d766bcdb2 100644
--- a/apps/commander/state_machine_helper.c
+++ b/apps/commander/state_machine_helper.c
@@ -501,10 +501,10 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c
 {
 	int old_mode = current_status->flight_mode;
 	current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL;
-	current_status->flag_control_manual_enabled = true; //XXX
+	current_status->flag_control_manual_enabled = true;
 	/* enable attitude control per default */
 	current_status->flag_control_attitude_enabled = true;
-	current_status->flag_control_rates_enabled = true;
+	current_status->flag_control_rates_enabled = false; // XXX
 	if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
 
 	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) {
@@ -517,9 +517,9 @@ void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_
 {
 	int old_mode = current_status->flight_mode;
 	current_status->flight_mode = VEHICLE_FLIGHT_MODE_STABILIZED;
-	current_status->flag_control_manual_enabled = true; //XXX
+	current_status->flag_control_manual_enabled = true;
 	current_status->flag_control_attitude_enabled = true;
-	current_status->flag_control_rates_enabled = true;
+	current_status->flag_control_rates_enabled = false; // XXX
 	if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
 
 	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) {
@@ -532,9 +532,9 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur
 {
 	int old_mode = current_status->flight_mode;
 	current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO;
-	current_status->flag_control_manual_enabled = true; //XXX
+	current_status->flag_control_manual_enabled = true;
 	current_status->flag_control_attitude_enabled = true;
-	current_status->flag_control_rates_enabled = true;
+	current_status->flag_control_rates_enabled = false; // XXX
 	if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
 
 	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) {