diff --git a/src/platforms/ros/nodes/commander/commander.cpp b/src/platforms/ros/nodes/commander/commander.cpp
index fee32b55f9..3829cbc32b 100644
--- a/src/platforms/ros/nodes/commander/commander.cpp
+++ b/src/platforms/ros/nodes/commander/commander.cpp
@@ -119,6 +119,7 @@ void Commander::EvalSwitches(const px4::manual_control_setpointConstPtr &msg,
 		msg_vehicle_control_mode.flag_control_altitude_enabled = false;
 		msg_vehicle_control_mode.flag_control_climb_rate_enabled = false;
 		msg_vehicle_control_mode.flag_control_position_enabled = false;
+		msg_vehicle_control_mode.flag_control_velocity_enabled = false;
 
 		break;
 
@@ -132,6 +133,7 @@ void Commander::EvalSwitches(const px4::manual_control_setpointConstPtr &msg,
 			msg_vehicle_control_mode.flag_control_altitude_enabled = true;
 			msg_vehicle_control_mode.flag_control_climb_rate_enabled = true;
 			msg_vehicle_control_mode.flag_control_position_enabled = true;
+			msg_vehicle_control_mode.flag_control_velocity_enabled = true;
 		} else {
 			msg_vehicle_status.main_state = msg_vehicle_status.MAIN_STATE_ALTCTL;
 			msg_vehicle_status.nav_state = msg_vehicle_status.NAVIGATION_STATE_ALTCTL;
@@ -141,6 +143,7 @@ void Commander::EvalSwitches(const px4::manual_control_setpointConstPtr &msg,
 			msg_vehicle_control_mode.flag_control_altitude_enabled = true;
 			msg_vehicle_control_mode.flag_control_climb_rate_enabled = true;
 			msg_vehicle_control_mode.flag_control_position_enabled = false;
+			msg_vehicle_control_mode.flag_control_velocity_enabled = false;
 		}
 		break;
 	}