diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 29a5f0b4af..3da43a7929 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1809,12 +1809,12 @@ set_control_mode()
 			control_mode.flag_control_offboard_enabled = true;
 
 			switch (sp_offboard.mode) {
-			case OFFBOARD_CONTROL_MODE_DIRECT_POSITION:
-				control_mode.flag_control_rates_enabled = false;
+			case OFFBOARD_CONTROL_MODE_DIRECT_RATES:
+				control_mode.flag_control_rates_enabled = true;
 				control_mode.flag_control_attitude_enabled = false;
 				control_mode.flag_control_altitude_enabled = false;
 				control_mode.flag_control_climb_rate_enabled = false;
-				control_mode.flag_control_position_enabled = true;
+				control_mode.flag_control_position_enabled = false;
 				control_mode.flag_control_velocity_enabled = false;
 				break;
 			case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE:
@@ -1825,13 +1825,21 @@ set_control_mode()
 				control_mode.flag_control_position_enabled = false;
 				control_mode.flag_control_velocity_enabled = false;
 				break;
-			case OFFBOARD_CONTROL_MODE_DIRECT_RATES:
+			case OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY:
 				control_mode.flag_control_rates_enabled = true;
-				control_mode.flag_control_attitude_enabled = false;
+				control_mode.flag_control_attitude_enabled = true;
 				control_mode.flag_control_altitude_enabled = false;
-				control_mode.flag_control_climb_rate_enabled = false;
+				control_mode.flag_control_climb_rate_enabled = true;
 				control_mode.flag_control_position_enabled = false;
-				control_mode.flag_control_velocity_enabled = false;
+				control_mode.flag_control_velocity_enabled = true;
+				break;
+			case OFFBOARD_CONTROL_MODE_DIRECT_POSITION:
+				control_mode.flag_control_rates_enabled = true;
+				control_mode.flag_control_attitude_enabled = true;
+				control_mode.flag_control_altitude_enabled = true;
+				control_mode.flag_control_climb_rate_enabled = true;
+				control_mode.flag_control_position_enabled = true;
+				control_mode.flag_control_velocity_enabled = true;
 				break;
 			default:
 				control_mode.flag_control_rates_enabled = false;