diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 461dd0ba99269835c27186bd4bcec18d232f2fb2..0356ee03d20264c4ab3a1ca68c07fa866f48c0cb 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -2943,7 +2943,7 @@ void UAS::setManualControlCommands(float roll, float pitch, float yaw, float thr
             const uint16_t thrustCommand = (uint16_t)(thrust * axesScaling);
 
 
-            uint8_t mode = 3; // for velocity setpoint (OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY)
+            uint8_t mode = 4; // for position setpoint (OFFBOARD_CONTROL_MODE_DIRECT_POSITION)
 
             // Send the MANUAL_COMMAND message
             mavlink_message_t message;