diff --git a/src/modules/rover_ackermann/RoverAckermann.cpp b/src/modules/rover_ackermann/RoverAckermann.cpp
index f22676e3fa..a40a3abb84 100644
--- a/src/modules/rover_ackermann/RoverAckermann.cpp
+++ b/src/modules/rover_ackermann/RoverAckermann.cpp
@@ -67,10 +67,7 @@ void RoverAckermann::Run()
 		_vehicle_control_mode_sub.copy(&vehicle_control_mode);
 
 		// Run sanity checks if the control mode changes (Note: This has to be done this way, because the topic is periodically updated at 2 Hz)
-		if (_vehicle_control_mode.flag_control_manual_enabled != vehicle_control_mode.flag_control_manual_enabled ||
-		    _vehicle_control_mode.flag_control_auto_enabled != vehicle_control_mode.flag_control_auto_enabled ||
-		    _vehicle_control_mode.flag_control_offboard_enabled != vehicle_control_mode.flag_control_offboard_enabled ||
-		    _vehicle_control_mode.flag_control_position_enabled != vehicle_control_mode.flag_control_position_enabled ||
+		if (_vehicle_control_mode.flag_control_position_enabled != vehicle_control_mode.flag_control_position_enabled ||
 		    _vehicle_control_mode.flag_control_velocity_enabled != vehicle_control_mode.flag_control_velocity_enabled ||
 		    _vehicle_control_mode.flag_control_attitude_enabled != vehicle_control_mode.flag_control_attitude_enabled ||
 		    _vehicle_control_mode.flag_control_rates_enabled != vehicle_control_mode.flag_control_rates_enabled ||
@@ -82,24 +79,11 @@ void RoverAckermann::Run()
 		} else {
 			_vehicle_control_mode = vehicle_control_mode;
 		}
-
 	}
 
 	if (_vehicle_control_mode.flag_armed && _sanity_checks_passed) {
-
 		_was_armed = true;
-
-		// Generate setpoints
-		if (_vehicle_control_mode.flag_control_manual_enabled) {
-			manualControl();
-
-		} else if (_vehicle_control_mode.flag_control_auto_enabled) {
-			_auto_mode.autoControl();
-
-		} else if (_vehicle_control_mode.flag_control_offboard_enabled) {
-			_offboard_mode.offboardControl();
-		}
-
+		generateSetpoints();
 		updateControllers();
 
 	} else if (_was_armed) { // Reset all controllers and stop the vehicle
@@ -110,20 +94,42 @@ void RoverAckermann::Run()
 
 }
 
-void RoverAckermann::manualControl()
+void RoverAckermann::generateSetpoints()
 {
-	if (_vehicle_control_mode.flag_control_position_enabled) {
-		_manual_mode.position();
+	vehicle_status_s vehicle_status{};
+	_vehicle_status_sub.update(&vehicle_status);
 
-	} else if (_vehicle_control_mode.flag_control_attitude_enabled) {
-		_manual_mode.stab();
+	switch (vehicle_status.nav_state) {
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
+		_auto_mode.autoControl();
+		break;
 
-	} else if (_vehicle_control_mode.flag_control_rates_enabled) {
-		_manual_mode.acro();
+	case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
+		_offboard_mode.offboardControl();
+		break;
 
-	} else if (_vehicle_control_mode.flag_control_allocation_enabled) {
+	case vehicle_status_s::NAVIGATION_STATE_MANUAL:
 		_manual_mode.manual();
+		break;
+
+	case vehicle_status_s::NAVIGATION_STATE_ACRO:
+		_manual_mode.acro();
+		break;
+
+	case vehicle_status_s::NAVIGATION_STATE_STAB:
+		_manual_mode.stab();
+		break;
+
+	case vehicle_status_s::NAVIGATION_STATE_POSCTL:
+		_manual_mode.position();
+		break;
+
+	default:
+		break;
 	}
+
 }
 
 void RoverAckermann::updateControllers()
diff --git a/src/modules/rover_ackermann/RoverAckermann.hpp b/src/modules/rover_ackermann/RoverAckermann.hpp
index 2a5ea1e888..fa1453e76f 100644
--- a/src/modules/rover_ackermann/RoverAckermann.hpp
+++ b/src/modules/rover_ackermann/RoverAckermann.hpp
@@ -48,6 +48,7 @@
 #include <uORB/Publication.hpp>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/vehicle_control_mode.h>
+#include <uORB/topics/vehicle_status.h>
 
 // Local includes
 #include "AckermannActControl/AckermannActControl.hpp"
@@ -90,9 +91,9 @@ private:
 	void Run() override;
 
 	/**
-	 * @brief Generate and publish roverSetpoints from manualControlSetpoints.
+	 * @brief Generate rover setpoints from supported PX4 internal modes
 	 */
-	void manualControl();
+	void generateSetpoints();
 
 	/**
 	 * @brief Update the active controllers.
@@ -115,6 +116,7 @@ private:
 
 	// uORB subscriptions
 	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
+	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
 	uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
 	vehicle_control_mode_s _vehicle_control_mode{};
 
diff --git a/src/modules/rover_differential/RoverDifferential.cpp b/src/modules/rover_differential/RoverDifferential.cpp
index 4ab2d47187..1ef591d180 100644
--- a/src/modules/rover_differential/RoverDifferential.cpp
+++ b/src/modules/rover_differential/RoverDifferential.cpp
@@ -67,10 +67,7 @@ void RoverDifferential::Run()
 		_vehicle_control_mode_sub.copy(&vehicle_control_mode);
 
 		// Run sanity checks if the control mode changes (Note: This has to be done this way, because the topic is periodically updated at 2 Hz)
-		if (_vehicle_control_mode.flag_control_manual_enabled != vehicle_control_mode.flag_control_manual_enabled ||
-		    _vehicle_control_mode.flag_control_auto_enabled != vehicle_control_mode.flag_control_auto_enabled ||
-		    _vehicle_control_mode.flag_control_offboard_enabled != vehicle_control_mode.flag_control_offboard_enabled ||
-		    _vehicle_control_mode.flag_control_position_enabled != vehicle_control_mode.flag_control_position_enabled ||
+		if (_vehicle_control_mode.flag_control_position_enabled != vehicle_control_mode.flag_control_position_enabled ||
 		    _vehicle_control_mode.flag_control_velocity_enabled != vehicle_control_mode.flag_control_velocity_enabled ||
 		    _vehicle_control_mode.flag_control_attitude_enabled != vehicle_control_mode.flag_control_attitude_enabled ||
 		    _vehicle_control_mode.flag_control_rates_enabled != vehicle_control_mode.flag_control_rates_enabled ||
@@ -82,24 +79,12 @@ void RoverDifferential::Run()
 		} else {
 			_vehicle_control_mode = vehicle_control_mode;
 		}
-
 	}
 
 	if (_vehicle_control_mode.flag_armed && _sanity_checks_passed) {
 
 		_was_armed = true;
-
-		// Generate setpoints
-		if (_vehicle_control_mode.flag_control_manual_enabled) {
-			manualControl();
-
-		} else if (_vehicle_control_mode.flag_control_auto_enabled) {
-			_auto_mode.autoControl();
-
-		} else if (_vehicle_control_mode.flag_control_offboard_enabled) {
-			_offboard_mode.offboardControl();
-		}
-
+		generateSetpoints();
 		updateControllers();
 
 	} else if (_was_armed) { // Reset all controllers and stop the vehicle
@@ -110,20 +95,42 @@ void RoverDifferential::Run()
 
 }
 
-void RoverDifferential::manualControl()
+void RoverDifferential::generateSetpoints()
 {
-	if (_vehicle_control_mode.flag_control_position_enabled) {
-		_manual_mode.position();
+	vehicle_status_s vehicle_status{};
+	_vehicle_status_sub.update(&vehicle_status);
 
-	} else if (_vehicle_control_mode.flag_control_attitude_enabled) {
-		_manual_mode.stab();
+	switch (vehicle_status.nav_state) {
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
+		_auto_mode.autoControl();
+		break;
 
-	} else if (_vehicle_control_mode.flag_control_rates_enabled) {
-		_manual_mode.acro();
+	case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
+		_offboard_mode.offboardControl();
+		break;
 
-	} else if (_vehicle_control_mode.flag_control_allocation_enabled) {
+	case vehicle_status_s::NAVIGATION_STATE_MANUAL:
 		_manual_mode.manual();
+		break;
+
+	case vehicle_status_s::NAVIGATION_STATE_ACRO:
+		_manual_mode.acro();
+		break;
+
+	case vehicle_status_s::NAVIGATION_STATE_STAB:
+		_manual_mode.stab();
+		break;
+
+	case vehicle_status_s::NAVIGATION_STATE_POSCTL:
+		_manual_mode.position();
+		break;
+
+	default:
+		break;
 	}
+
 }
 
 void RoverDifferential::updateControllers()
diff --git a/src/modules/rover_differential/RoverDifferential.hpp b/src/modules/rover_differential/RoverDifferential.hpp
index 39ac21d2a8..06ed7f7be9 100644
--- a/src/modules/rover_differential/RoverDifferential.hpp
+++ b/src/modules/rover_differential/RoverDifferential.hpp
@@ -47,6 +47,7 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/vehicle_control_mode.h>
+#include <uORB/topics/vehicle_status.h>
 
 // Local includes
 #include "DifferentialActControl/DifferentialActControl.hpp"
@@ -89,9 +90,9 @@ private:
 	void Run() override;
 
 	/**
-	 * @brief Handle manual control
+	 * @brief Generate rover setpoints from supported PX4 internal modes
 	 */
-	void manualControl();
+	void generateSetpoints();
 
 	/**
 	 * @brief Update the controllers
@@ -114,6 +115,7 @@ private:
 
 	// uORB subscriptions
 	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
+	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
 	uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
 	vehicle_control_mode_s _vehicle_control_mode{};
 
diff --git a/src/modules/rover_mecanum/RoverMecanum.cpp b/src/modules/rover_mecanum/RoverMecanum.cpp
index 67d811de7a..d09be2e281 100644
--- a/src/modules/rover_mecanum/RoverMecanum.cpp
+++ b/src/modules/rover_mecanum/RoverMecanum.cpp
@@ -67,10 +67,7 @@ void RoverMecanum::Run()
 		_vehicle_control_mode_sub.copy(&vehicle_control_mode);
 
 		// Run sanity checks if the control mode changes (Note: This has to be done this way, because the topic is periodically updated at 2 Hz)
-		if (_vehicle_control_mode.flag_control_manual_enabled != vehicle_control_mode.flag_control_manual_enabled ||
-		    _vehicle_control_mode.flag_control_auto_enabled != vehicle_control_mode.flag_control_auto_enabled ||
-		    _vehicle_control_mode.flag_control_offboard_enabled != vehicle_control_mode.flag_control_offboard_enabled ||
-		    _vehicle_control_mode.flag_control_position_enabled != vehicle_control_mode.flag_control_position_enabled ||
+		if (_vehicle_control_mode.flag_control_position_enabled != vehicle_control_mode.flag_control_position_enabled ||
 		    _vehicle_control_mode.flag_control_velocity_enabled != vehicle_control_mode.flag_control_velocity_enabled ||
 		    _vehicle_control_mode.flag_control_attitude_enabled != vehicle_control_mode.flag_control_attitude_enabled ||
 		    _vehicle_control_mode.flag_control_rates_enabled != vehicle_control_mode.flag_control_rates_enabled ||
@@ -82,24 +79,12 @@ void RoverMecanum::Run()
 		} else {
 			_vehicle_control_mode = vehicle_control_mode;
 		}
-
 	}
 
 	if (_vehicle_control_mode.flag_armed && _sanity_checks_passed) {
 
 		_was_armed = true;
-
-		// Generate setpoints
-		if (_vehicle_control_mode.flag_control_manual_enabled) {
-			manualControl();
-
-		} else if (_vehicle_control_mode.flag_control_auto_enabled) {
-			_auto_mode.autoControl();
-
-		} else if (_vehicle_control_mode.flag_control_offboard_enabled) {
-			_offboard_mode.offboardControl();
-		}
-
+		generateSetpoints();
 		updateControllers();
 
 	} else if (_was_armed) { // Reset all controllers and stop the vehicle
@@ -110,20 +95,42 @@ void RoverMecanum::Run()
 
 }
 
-void RoverMecanum::manualControl()
+void RoverMecanum::generateSetpoints()
 {
-	if (_vehicle_control_mode.flag_control_position_enabled) {
-		_manual_mode.position();
+	vehicle_status_s vehicle_status{};
+	_vehicle_status_sub.update(&vehicle_status);
 
-	} else if (_vehicle_control_mode.flag_control_attitude_enabled) {
-		_manual_mode.stab();
+	switch (vehicle_status.nav_state) {
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
+		_auto_mode.autoControl();
+		break;
 
-	} else if (_vehicle_control_mode.flag_control_rates_enabled) {
-		_manual_mode.acro();
+	case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
+		_offboard_mode.offboardControl();
+		break;
 
-	} else if (_vehicle_control_mode.flag_control_allocation_enabled) {
+	case vehicle_status_s::NAVIGATION_STATE_MANUAL:
 		_manual_mode.manual();
+		break;
+
+	case vehicle_status_s::NAVIGATION_STATE_ACRO:
+		_manual_mode.acro();
+		break;
+
+	case vehicle_status_s::NAVIGATION_STATE_STAB:
+		_manual_mode.stab();
+		break;
+
+	case vehicle_status_s::NAVIGATION_STATE_POSCTL:
+		_manual_mode.position();
+		break;
+
+	default:
+		break;
 	}
+
 }
 
 void RoverMecanum::updateControllers()
diff --git a/src/modules/rover_mecanum/RoverMecanum.hpp b/src/modules/rover_mecanum/RoverMecanum.hpp
index 8b50094ecf..83f1cb6df2 100644
--- a/src/modules/rover_mecanum/RoverMecanum.hpp
+++ b/src/modules/rover_mecanum/RoverMecanum.hpp
@@ -47,6 +47,7 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/vehicle_control_mode.h>
+#include <uORB/topics/vehicle_status.h>
 
 // Local includes
 #include "MecanumActControl/MecanumActControl.hpp"
@@ -89,9 +90,9 @@ private:
 	void Run() override;
 
 	/**
-	 * @brief Handle manual control
+	 * @brief Generate rover setpoints from supported PX4 internal modes
 	 */
-	void manualControl();
+	void generateSetpoints();
 
 	/**
 	 * @brief Update the controllers
@@ -114,6 +115,7 @@ private:
 
 	// uORB subscriptions
 	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
+	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
 	uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
 	vehicle_control_mode_s _vehicle_control_mode{};