diff --git a/src/px4_connection/src/heartbeat.cpp b/src/px4_connection/src/heartbeat.cpp
index 7f6459d2..52f6f87d 100644
--- a/src/px4_connection/src/heartbeat.cpp
+++ b/src/px4_connection/src/heartbeat.cpp
@@ -41,9 +41,9 @@ 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_connection/src/px4_controller.cpp b/src/px4_connection/src/px4_controller.cpp
index 0b6b7c07..efa818ab 100644
--- a/src/px4_connection/src/px4_controller.cpp
+++ b/src/px4_connection/src/px4_controller.cpp
@@ -200,7 +200,7 @@ private:
             flying = true;
         }
 
-        send_trajectory_setpoint();
+        send_attitude_setpoint();
     }
 
     /**