diff --git a/integrationtests/python_src/px4_it/util/manual_input.py b/integrationtests/python_src/px4_it/util/manual_input.py
index b7adaa31c4..d1381d99d6 100755
--- a/integrationtests/python_src/px4_it/util/manual_input.py
+++ b/integrationtests/python_src/px4_it/util/manual_input.py
@@ -129,7 +129,9 @@ class ManualInput(object):
         mode = offboard_control_mode()
         mode.ignore_thrust = ignore_thrust
         mode.ignore_attitude = ignore_attitude
-        mode.ignore_bodyrate = ignore_bodyrate
+        mode.ignore_bodyrate_x = ignore_bodyrate
+        mode.ignore_bodyrate_y = ignore_bodyrate
+        mode.ignore_bodyrate_z = ignore_bodyrate
         mode.ignore_position = ignore_position
         mode.ignore_velocity = ignore_velocity
         mode.ignore_acceleration_force = ignore_acceleration_force
diff --git a/msg/offboard_control_mode.msg b/msg/offboard_control_mode.msg
index 34c1f99580..931c2fcf6d 100644
--- a/msg/offboard_control_mode.msg
+++ b/msg/offboard_control_mode.msg
@@ -4,7 +4,6 @@ uint64 timestamp		# time since system start (microseconds)
 
 bool ignore_thrust
 bool ignore_attitude
-bool ignore_bodyrate
 bool ignore_bodyrate_x
 bool ignore_bodyrate_y
 bool ignore_bodyrate_z
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index f575b9be9f..834c758013 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -1516,7 +1516,9 @@ Commander::run()
 
 			if (old.ignore_thrust != offboard_control_mode.ignore_thrust ||
 			    old.ignore_attitude != offboard_control_mode.ignore_attitude ||
-			    old.ignore_bodyrate != offboard_control_mode.ignore_bodyrate ||
+			    old.ignore_bodyrate_x != offboard_control_mode.ignore_bodyrate_x ||
+			    old.ignore_bodyrate_y != offboard_control_mode.ignore_bodyrate_y ||
+			    old.ignore_bodyrate_z != offboard_control_mode.ignore_bodyrate_z ||
 			    old.ignore_position != offboard_control_mode.ignore_position ||
 			    old.ignore_velocity != offboard_control_mode.ignore_velocity ||
 			    old.ignore_acceleration_force != offboard_control_mode.ignore_acceleration_force ||
@@ -3323,24 +3325,25 @@ set_control_mode()
 		 * Inner loop flags (e.g. attitude) also depend on outer loop ignore flags (e.g. position)
 		 */
 		control_mode.flag_control_rates_enabled =
-				!offboard_control_mode.ignore_bodyrate_x ||
-				!offboard_control_mode.ignore_bodyrate_y ||
-				!offboard_control_mode.ignore_bodyrate_z ||
-				!offboard_control_mode.ignore_attitude ||
-				!offboard_control_mode.ignore_position ||
-				!offboard_control_mode.ignore_velocity ||
-				!offboard_control_mode.ignore_acceleration_force;
+			!offboard_control_mode.ignore_bodyrate_x ||
+			!offboard_control_mode.ignore_bodyrate_y ||
+			!offboard_control_mode.ignore_bodyrate_z ||
+			!offboard_control_mode.ignore_attitude ||
+			!offboard_control_mode.ignore_position ||
+			!offboard_control_mode.ignore_velocity ||
+			!offboard_control_mode.ignore_acceleration_force;
 
 		control_mode.flag_control_attitude_enabled = !offboard_control_mode.ignore_attitude ||
 				!offboard_control_mode.ignore_position ||
 				!offboard_control_mode.ignore_velocity ||
 				!offboard_control_mode.ignore_acceleration_force;
 
+		// TO-DO: Add support for other modes than yawrate control
 		control_mode.flag_control_yawrate_override_enabled =
-				offboard_control_mode.ignore_bodyrate_x &&
-				offboard_control_mode.ignore_bodyrate_y &&
-				!offboard_control_mode.ignore_bodyrate_z &&
-				!offboard_control_mode.ignore_attitude;
+			offboard_control_mode.ignore_bodyrate_x &&
+			offboard_control_mode.ignore_bodyrate_y &&
+			!offboard_control_mode.ignore_bodyrate_z &&
+			!offboard_control_mode.ignore_attitude;
 
 		control_mode.flag_control_rattitude_enabled = false;
 
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index b403c88537..36e37780cd 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -825,8 +825,6 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 		bool is_force_sp = (bool)(set_position_target_local_ned.type_mask & (1 << 9));
 		/* yaw ignore flag mapps to ignore_attitude */
 		offboard_control_mode.ignore_attitude = (bool)(set_position_target_local_ned.type_mask & 0x400);
-		/* yawrate ignore flag mapps to ignore_bodyrate */
-		// offboard_control_mode.ignore_bodyrate = (bool)(set_position_target_local_ned.type_mask & 0x800);
 		offboard_control_mode.ignore_bodyrate_x = (bool)(set_position_target_local_ned.type_mask & 0x800);
 		offboard_control_mode.ignore_bodyrate_y = (bool)(set_position_target_local_ned.type_mask & 0x800);
 		offboard_control_mode.ignore_bodyrate_z = (bool)(set_position_target_local_ned.type_mask & 0x800);
@@ -1374,7 +1372,6 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 				}
 
 				/* Publish attitude rate setpoint if bodyrate and thrust ignore bits are not set */
-				///XXX add support for ignoring individual axes
 				if (!_offboard_control_mode.ignore_bodyrate_x ||
 				    !_offboard_control_mode.ignore_bodyrate_y ||
 				    !_offboard_control_mode.ignore_bodyrate_z) {