diff --git a/src/px4_connection/src/heartbeat.cpp b/src/px4_connection/src/heartbeat.cpp
index e755c222..9aeda743 100644
--- a/src/px4_connection/src/heartbeat.cpp
+++ b/src/px4_connection/src/heartbeat.cpp
@@ -40,9 +40,9 @@ private:
         // set message to enable attitude
         auto msg = px4_msgs::msg::OffboardControlMode();
         msg.position = false;
-        msg.velocity = true;
+        msg.velocity = false;
         msg.acceleration = false;
-        msg.attitude = false;
+        msg.attitude = true;
         msg.body_rate = false;
         msg.actuator = false;
 
diff --git a/src/px4_ros_com b/src/px4_ros_com
index 1562ff30..0bcf68bc 160000
--- a/src/px4_ros_com
+++ b/src/px4_ros_com
@@ -1 +1 @@
-Subproject commit 1562ff30d56b7ba26e4d2436724490f900cc2375
+Subproject commit 0bcf68bcb635199adcd134e8932932054e863c0d