diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 98c1b9cd7a..2acdf412fc 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -811,26 +811,41 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 		offboard_control_mode_s offboard_control_mode{};
 
 		/* convert mavlink type (local, NED) to uORB offboard control struct */
-		offboard_control_mode.ignore_position = (bool)(set_position_target_local_ned.type_mask & 0x7);
-		offboard_control_mode.ignore_alt_hold = (bool)(set_position_target_local_ned.type_mask & 0x4);
-		offboard_control_mode.ignore_velocity = (bool)(set_position_target_local_ned.type_mask & 0x38);
-		offboard_control_mode.ignore_acceleration_force = (bool)(set_position_target_local_ned.type_mask & 0x1C0);
-		offboard_control_mode.ignore_attitude = (bool)(set_position_target_local_ned.type_mask & 0x400);
-		offboard_control_mode.ignore_bodyrate_x = (bool)(set_position_target_local_ned.type_mask & 0x800);
-		offboard_control_mode.ignore_bodyrate_y = (bool)(set_position_target_local_ned.type_mask & 0x800);
-		offboard_control_mode.ignore_bodyrate_z = (bool)(set_position_target_local_ned.type_mask & 0x800);
+		offboard_control_mode.ignore_position = (bool)(set_position_target_local_ned.type_mask &
+							(POSITION_TARGET_TYPEMASK_X_IGNORE
+									| POSITION_TARGET_TYPEMASK_Y_IGNORE
+									| POSITION_TARGET_TYPEMASK_Z_IGNORE));
+		offboard_control_mode.ignore_alt_hold = (bool)(set_position_target_local_ned.type_mask &
+							POSITION_TARGET_TYPEMASK_Z_IGNORE);
+		offboard_control_mode.ignore_velocity = (bool)(set_position_target_local_ned.type_mask &
+							(POSITION_TARGET_TYPEMASK_VX_IGNORE
+									| POSITION_TARGET_TYPEMASK_VY_IGNORE
+									| POSITION_TARGET_TYPEMASK_VZ_IGNORE));
+		offboard_control_mode.ignore_acceleration_force = (bool)(set_position_target_local_ned.type_mask &
+				(POSITION_TARGET_TYPEMASK_AX_IGNORE
+				 | POSITION_TARGET_TYPEMASK_AY_IGNORE
+				 | POSITION_TARGET_TYPEMASK_AZ_IGNORE));
+		/* yaw ignore flag mapps to ignore_attitude */
+		offboard_control_mode.ignore_attitude = (bool)(set_position_target_local_ned.type_mask &
+							POSITION_TARGET_TYPEMASK_YAW_IGNORE);
+		offboard_control_mode.ignore_bodyrate_x = (bool)(set_position_target_local_ned.type_mask &
+				POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE);
+		offboard_control_mode.ignore_bodyrate_y = (bool)(set_position_target_local_ned.type_mask &
+				POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE);
+		offboard_control_mode.ignore_bodyrate_z = (bool)(set_position_target_local_ned.type_mask &
+				POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE);
 
 		/* yaw ignore flag mapps to ignore_attitude */
-		bool is_force_sp = (bool)(set_position_target_local_ned.type_mask & (1 << 9));
+		bool is_force_sp = (bool)(set_position_target_local_ned.type_mask & POSITION_TARGET_TYPEMASK_FORCE_SET);
 
 		bool is_takeoff_sp = (bool)(set_position_target_local_ned.type_mask & 0x1000);
 		bool is_land_sp = (bool)(set_position_target_local_ned.type_mask & 0x2000);
 		bool is_loiter_sp = (bool)(set_position_target_local_ned.type_mask & 0x3000);
 		bool is_idle_sp = (bool)(set_position_target_local_ned.type_mask & 0x4000);
 		bool is_gliding_sp = (bool)(set_position_target_local_ned.type_mask &
-					    (POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_Z_IGNORE
-					     | POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_VZ_IGNORE
-					     | POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_AZ_IGNORE));
+					    (POSITION_TARGET_TYPEMASK_Z_IGNORE
+					     | POSITION_TARGET_TYPEMASK_VZ_IGNORE
+					     | POSITION_TARGET_TYPEMASK_AZ_IGNORE));
 
 		offboard_control_mode.timestamp = hrt_absolute_time();
 		_offboard_control_mode_pub.publish(offboard_control_mode);
@@ -982,29 +997,30 @@ MavlinkReceiver::handle_message_set_position_target_global_int(mavlink_message_t
 
 		/* convert mavlink type (local, NED) to uORB offboard control struct */
 		offboard_control_mode.ignore_position = (bool)(set_position_target_global_int.type_mask &
-							(POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_X_IGNORE
-									| POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_Y_IGNORE
-									| POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_Z_IGNORE));
-		offboard_control_mode.ignore_alt_hold = (bool)(set_position_target_global_int.type_mask & 0x4);
+							(POSITION_TARGET_TYPEMASK_X_IGNORE
+									| POSITION_TARGET_TYPEMASK_Y_IGNORE
+									| POSITION_TARGET_TYPEMASK_Z_IGNORE));
+		offboard_control_mode.ignore_alt_hold = (bool)(set_position_target_global_int.type_mask &
+							POSITION_TARGET_TYPEMASK_Z_IGNORE);
 		offboard_control_mode.ignore_velocity = (bool)(set_position_target_global_int.type_mask &
-							(POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_VX_IGNORE
-									| POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_VY_IGNORE
-									| POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_VZ_IGNORE));
+							(POSITION_TARGET_TYPEMASK_VX_IGNORE
+									| POSITION_TARGET_TYPEMASK_VY_IGNORE
+									| POSITION_TARGET_TYPEMASK_VZ_IGNORE));
 		offboard_control_mode.ignore_acceleration_force = (bool)(set_position_target_global_int.type_mask &
-				(POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_AX_IGNORE
-				 | POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_AY_IGNORE
-				 | POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_AZ_IGNORE));
+				(POSITION_TARGET_TYPEMASK_AX_IGNORE
+				 | POSITION_TARGET_TYPEMASK_AY_IGNORE
+				 | POSITION_TARGET_TYPEMASK_AZ_IGNORE));
 		/* yaw ignore flag mapps to ignore_attitude */
 		offboard_control_mode.ignore_attitude = (bool)(set_position_target_global_int.type_mask &
-							POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_YAW_IGNORE);
+							POSITION_TARGET_TYPEMASK_YAW_IGNORE);
 		offboard_control_mode.ignore_bodyrate_x = (bool)(set_position_target_global_int.type_mask &
-				POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE);
+				POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE);
 		offboard_control_mode.ignore_bodyrate_y = (bool)(set_position_target_global_int.type_mask &
-				POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE);
+				POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE);
 		offboard_control_mode.ignore_bodyrate_z = (bool)(set_position_target_global_int.type_mask &
-				POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE);
+				POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE);
 
-		bool is_force_sp = (bool)(set_position_target_global_int.type_mask & (1 << 9));
+		bool is_force_sp = (bool)(set_position_target_global_int.type_mask & POSITION_TARGET_TYPEMASK_FORCE_SET);
 
 		offboard_control_mode.timestamp = hrt_absolute_time();
 		_offboard_control_mode_pub.publish(offboard_control_mode);