diff --git a/src/examples/jetdrive_control/jetdrive_control_main.cpp b/src/examples/jetdrive_control/jetdrive_control_main.cpp
index 409ccad638..01435f5722 100644
--- a/src/examples/jetdrive_control/jetdrive_control_main.cpp
+++ b/src/examples/jetdrive_control/jetdrive_control_main.cpp
@@ -558,7 +558,7 @@ JetdriveControl::task_main()
 			arming_status_poll();
 			vehicle_manual_poll();
 
-			if(_v_control_mode.flag_external_manual_override_ok)
+			if(!_v_control_mode.flag_control_offboard_enabled)
 			{
 				/* manual/direct control */
 				_actuators.control[0] = _manual_control_sp .roll;
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 5e242050b5..801ef8d01a 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1728,7 +1728,6 @@ set_control_mode()
 				control_mode.flag_control_climb_rate_enabled = false;
 				control_mode.flag_control_position_enabled = false;
 				control_mode.flag_control_velocity_enabled = false;
-				control_mode.flag_external_manual_override_ok = false;
 				break;
 			case OFFBOARD_CONTROL_MODE_DIRECT_RATES:
 				control_mode.flag_control_rates_enabled = true;
@@ -1737,7 +1736,6 @@ set_control_mode()
 				control_mode.flag_control_climb_rate_enabled = false;
 				control_mode.flag_control_position_enabled = false;
 				control_mode.flag_control_velocity_enabled = false;
-				control_mode.flag_external_manual_override_ok = false;
 				break;
 			default:
 				control_mode.flag_control_rates_enabled = false;
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index ba886e29e8..a834b2c3a8 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -358,7 +358,7 @@ handle_message(mavlink_message_t *msg)
 
 					} else {
 						/* publish */
-						orb_publish(ORB_ID(vehicle_rates_setpoint), &rates_sp);
+						orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
 					}
 					break;
 				case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE: