diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 8b62022db4..7fff1278d3 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -101,12 +101,15 @@ void GCS_MAVLINK_Copter::send_position_target_global_int()
     if (!target.change_alt_frame(Location::AltFrame::ABSOLUTE)) {
         return;
     }
-
+    static constexpr uint16_t POSITION_TARGET_TYPEMASK_LAST_BYTE = 0xF000;
+    static constexpr uint16_t TYPE_MASK = POSITION_TARGET_TYPEMASK_VX_IGNORE | POSITION_TARGET_TYPEMASK_VY_IGNORE | POSITION_TARGET_TYPEMASK_VZ_IGNORE |
+                                          POSITION_TARGET_TYPEMASK_AX_IGNORE | POSITION_TARGET_TYPEMASK_AY_IGNORE | POSITION_TARGET_TYPEMASK_AZ_IGNORE |
+                                          POSITION_TARGET_TYPEMASK_FORCE_SET | POSITION_TARGET_TYPEMASK_YAW_IGNORE | POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE | POSITION_TARGET_TYPEMASK_LAST_BYTE;
     mavlink_msg_position_target_global_int_send(
         chan,
         AP_HAL::millis(), // time_boot_ms
         MAV_FRAME_GLOBAL, // targets are always global altitude
-        0xFFF8, // ignore everything except the x/y/z components
+        TYPE_MASK, // ignore everything except the x/y/z components
         target.lat, // latitude as 1e7
         target.lng, // longitude as 1e7
         target.alt * 0.01f, // altitude is sent as a float
@@ -137,16 +140,21 @@ void GCS_MAVLINK_Copter::send_position_target_local_ned()
         // we don't have a local target when in angle mode
         return;
     case ModeGuided::SubMode::WP:
-        type_mask = 0x0FF8; // ignore everything except position
+        type_mask = POSITION_TARGET_TYPEMASK_VX_IGNORE | POSITION_TARGET_TYPEMASK_VY_IGNORE | POSITION_TARGET_TYPEMASK_VZ_IGNORE |
+                    POSITION_TARGET_TYPEMASK_AX_IGNORE | POSITION_TARGET_TYPEMASK_AY_IGNORE | POSITION_TARGET_TYPEMASK_AZ_IGNORE |
+                    POSITION_TARGET_TYPEMASK_FORCE_SET | POSITION_TARGET_TYPEMASK_YAW_IGNORE| POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE; // ignore everything except position
         target_pos = copter.wp_nav->get_wp_destination() * 0.01f; // convert to metres
         break;
     case ModeGuided::SubMode::Velocity:
-        type_mask = 0x0FC7; // ignore everything except velocity
+        type_mask = POSITION_TARGET_TYPEMASK_X_IGNORE | POSITION_TARGET_TYPEMASK_Y_IGNORE | POSITION_TARGET_TYPEMASK_Z_IGNORE |
+                    POSITION_TARGET_TYPEMASK_AX_IGNORE | POSITION_TARGET_TYPEMASK_AY_IGNORE | POSITION_TARGET_TYPEMASK_AZ_IGNORE |
+                    POSITION_TARGET_TYPEMASK_FORCE_SET | POSITION_TARGET_TYPEMASK_YAW_IGNORE| POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE; // ignore everything except velocity
         target_vel = copter.flightmode->get_desired_velocity() * 0.01f; // convert to m/s
         break;
     case ModeGuided::SubMode::TakeOff:
     case ModeGuided::SubMode::PosVel:
-        type_mask = 0x0FC0; // ignore everything except position & velocity
+        type_mask = POSITION_TARGET_TYPEMASK_AX_IGNORE | POSITION_TARGET_TYPEMASK_AY_IGNORE | POSITION_TARGET_TYPEMASK_AZ_IGNORE |
+                    POSITION_TARGET_TYPEMASK_FORCE_SET | POSITION_TARGET_TYPEMASK_YAW_IGNORE| POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE; // ignore everything except position & velocity
         target_pos = copter.wp_nav->get_wp_destination() * 0.01f;
         target_vel = copter.flightmode->get_desired_velocity() * 0.01f;
         break;