diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c
index 1e82bc417b..f9ec6ba915 100644
--- a/apps/commander/state_machine_helper.c
+++ b/apps/commander/state_machine_helper.c
@@ -503,8 +503,8 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c
 	current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL;
 	current_status->flag_control_manual_enabled = true; //XXX
 	/* enable attitude control per default */
-	current_status->flag_control_attitude_enabled = false;
-	current_status->flag_control_rates_enabled = true;
+	current_status->flag_control_attitude_enabled = true;
+	current_status->flag_control_rates_enabled = false;
 	if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
 
 	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) {
@@ -518,8 +518,8 @@ void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_
 	int old_mode = current_status->flight_mode;
 	current_status->flight_mode = VEHICLE_FLIGHT_MODE_STABILIZED;
 	current_status->flag_control_manual_enabled = true; //XXX
-	current_status->flag_control_attitude_enabled = false;
-	current_status->flag_control_rates_enabled = true;
+	current_status->flag_control_attitude_enabled = true;
+	current_status->flag_control_rates_enabled = false;
 	if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
 
 	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) {
@@ -533,8 +533,8 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur
 	int old_mode = current_status->flight_mode;
 	current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO;
 	current_status->flag_control_manual_enabled = true; //XXX
-	current_status->flag_control_attitude_enabled = false;
-	current_status->flag_control_rates_enabled = true;
+	current_status->flag_control_attitude_enabled = true;
+	current_status->flag_control_rates_enabled = false;
 	if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
 
 	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) {
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index 4b386ffd4f..18efe1ae2a 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -224,13 +224,13 @@ mc_thread_main(int argc, char *argv[])
 		/** STEP 3: Identify the controller setup to run and set up the inputs correctly */
 
 		/* run attitude controller */
-		// if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) {
-		// 	multirotor_control_attitude(&att_sp, &att, NULL, &actuators);
-		// 	orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
-		// } else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) {
-		// 	multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
-		// 	orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
-		// }
+		if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) {
+			multirotor_control_attitude(&att_sp, &att, NULL, &actuators);
+			orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
+		} else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) {
+			multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
+			orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
+		}
 
 
 		if (state.flag_control_rates_enabled) {