diff --git a/msg/RoverVelocitySetpoint.msg b/msg/RoverVelocitySetpoint.msg
index 83ec173798..2628ea18c4 100644
--- a/msg/RoverVelocitySetpoint.msg
+++ b/msg/RoverVelocitySetpoint.msg
@@ -1,5 +1,5 @@
 uint64 timestamp # time since system start (microseconds)
 
 float32 speed   # [m/s] [-inf, inf] Speed setpoint (Backwards driving if negative)
-float32 bearing # [rad] [-pi,pi] from North.
+float32 bearing # [rad] [-pi,pi] from North. [invalid: NAN, speed is defined in body x direction]
 float32 yaw 	# [rad] [-pi, pi] (Mecanum only, Optional, defaults to current vehicle yaw) Vehicle yaw setpoint in NED frame
diff --git a/src/modules/rover_ackermann/AckermannVelControl/AckermannVelControl.cpp b/src/modules/rover_ackermann/AckermannVelControl/AckermannVelControl.cpp
index 3b6f0fa500..8d9bf88e8b 100644
--- a/src/modules/rover_ackermann/AckermannVelControl/AckermannVelControl.cpp
+++ b/src/modules/rover_ackermann/AckermannVelControl/AckermannVelControl.cpp
@@ -149,7 +149,7 @@ void AckermannVelControl::generateAttitudeAndThrottleSetpoint()
 		rover_attitude_setpoint.yaw_setpoint = _vehicle_yaw;
 		_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
 
-	} else {
+	} else if (PX4_ISFINITE(_rover_velocity_setpoint.bearing)) {
 		rover_attitude_setpoint_s rover_attitude_setpoint{};
 		rover_attitude_setpoint.timestamp = _timestamp;
 		rover_attitude_setpoint.yaw_setpoint = _rover_velocity_setpoint.bearing;
diff --git a/src/modules/rover_differential/DifferentialVelControl/DifferentialVelControl.cpp b/src/modules/rover_differential/DifferentialVelControl/DifferentialVelControl.cpp
index 912510f83b..2f8e3c8885 100644
--- a/src/modules/rover_differential/DifferentialVelControl/DifferentialVelControl.cpp
+++ b/src/modules/rover_differential/DifferentialVelControl/DifferentialVelControl.cpp
@@ -140,10 +140,12 @@ void DifferentialVelControl::generateAttitudeAndThrottleSetpoint()
 	}
 
 	// Attitude Setpoint
-	rover_attitude_setpoint_s rover_attitude_setpoint{};
-	rover_attitude_setpoint.timestamp = _timestamp;
-	rover_attitude_setpoint.yaw_setpoint = _rover_velocity_setpoint.bearing;
-	_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+	if (PX4_ISFINITE(_rover_velocity_setpoint.bearing)) {
+		rover_attitude_setpoint_s rover_attitude_setpoint{};
+		rover_attitude_setpoint.timestamp = _timestamp;
+		rover_attitude_setpoint.yaw_setpoint = _rover_velocity_setpoint.bearing;
+		_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+	}
 
 	// Throttle Setpoint
 	const float heading_error = matrix::wrap_pi(_rover_velocity_setpoint.bearing - _vehicle_yaw);
diff --git a/src/modules/rover_mecanum/MecanumVelControl/MecanumVelControl.cpp b/src/modules/rover_mecanum/MecanumVelControl/MecanumVelControl.cpp
index e33ea5cafc..0f3140bc39 100644
--- a/src/modules/rover_mecanum/MecanumVelControl/MecanumVelControl.cpp
+++ b/src/modules/rover_mecanum/MecanumVelControl/MecanumVelControl.cpp
@@ -167,7 +167,7 @@ void MecanumVelControl::generateAttitudeAndThrottleSetpoint()
 	float speed_body_x_setpoint{0.f};
 	float speed_body_y_setpoint{0.f};
 
-	if (fabsf(_rover_velocity_setpoint.speed) > FLT_EPSILON) {
+	if (fabsf(_rover_velocity_setpoint.speed) > FLT_EPSILON && PX4_ISFINITE(_rover_velocity_setpoint.bearing)) {
 		const Vector3f velocity_in_local_frame(_rover_velocity_setpoint.speed * cosf(
 				_rover_velocity_setpoint.bearing),
 						       _rover_velocity_setpoint.speed * sinf(_rover_velocity_setpoint.bearing), 0.f);
@@ -175,6 +175,9 @@ void MecanumVelControl::generateAttitudeAndThrottleSetpoint()
 		speed_body_x_setpoint = velocity_in_body_frame(0);
 		speed_body_y_setpoint = velocity_in_body_frame(1);
 
+	} else {
+		speed_body_x_setpoint = _rover_velocity_setpoint.speed;
+		speed_body_y_setpoint = 0.f;
 	}
 
 	if (_param_ro_max_thr_speed.get() > FLT_EPSILON) { // Adjust speed setpoints if infeasible