diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 86d7ba395f..a2c27610f3 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -227,9 +227,7 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, uint8_t *mavlink_st
 			break;
 
 		case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
-			*mavlink_base_mode	|= MAV_MODE_FLAG_AUTO_ENABLED
-								| MAV_MODE_FLAG_STABILIZE_ENABLED
-								| MAV_MODE_FLAG_GUIDED_ENABLED;
+			*mavlink_base_mode |= auto_mode_flags;
 			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_OFFBOARD;
 			break;