diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 0d3fc9ef63..0c6c720b76 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -202,7 +202,7 @@ static struct safety_s safety;
 static struct vehicle_control_mode_s control_mode;
 static struct offboard_control_mode_s offboard_control_mode;
 static struct home_position_s _home;
-static int32_t _flight_mode_slots[manual_control_setpoint_s::MODE_SLOT_MAX - 1];
+static int32_t _flight_mode_slots[manual_control_setpoint_s::MODE_SLOT_MAX];
 
 static unsigned _last_mission_instance = 0;
 static manual_control_setpoint_s _last_sp_man = {};
@@ -1177,7 +1177,7 @@ int commander_thread_main(int argc, char *argv[])
 	// nav_states_str[vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL]	= "AUTO_LANDENGFAIL";
 	// nav_states_str[vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL]	= "AUTO_LANDGPSFAIL";
 	// nav_states_str[vehicle_status_s::NAVIGATION_STATE_ACRO]			= "ACRO";
-	// nav_states_str[vehicle_status_s::NAVIGATION_STATE_LAND]			= "LAND";
+	// nav_states_str[vehicle_status_s::NAVIGATION_STATE_AUTO_LAND]			= "LAND";
 	// nav_states_str[vehicle_status_s::NAVIGATION_STATE_DESCEND]		= "DESCEND";
 	// nav_states_str[vehicle_status_s::NAVIGATION_STATE_TERMINATION]		= "TERMINATION";
 	// nav_states_str[vehicle_status_s::NAVIGATION_STATE_OFFBOARD]		= "OFFBOARD";
@@ -2944,9 +2944,10 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
 	}
 
 	/* we know something has changed - check if we are in mode slot operation */
-	if (sp_man->mode_slot > 0) {
+	if (sp_man->mode_slot != manual_control_setpoint_s::MODE_SLOT_NONE) {
 
 		if (sp_man->mode_slot >= sizeof(_flight_mode_slots) / sizeof(_flight_mode_slots[0])) {
+			warnx("overflow");
 			return TRANSITION_DENIED;
 		}
 
@@ -3225,6 +3226,7 @@ set_control_mode()
 		control_mode.flag_external_manual_override_ok = false;
 		/* fallthrough */
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL:
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
@@ -3264,20 +3266,6 @@ set_control_mode()
 		control_mode.flag_control_termination_enabled = false;
 		break;
 
-
-	case vehicle_status_s::NAVIGATION_STATE_LAND:
-		control_mode.flag_control_manual_enabled = false;
-		control_mode.flag_control_auto_enabled = true;
-		control_mode.flag_control_rates_enabled = true;
-		control_mode.flag_control_attitude_enabled = true;
-		/* in failsafe LAND mode position may be not available */
-		control_mode.flag_control_position_enabled = status.condition_local_position_valid;
-		control_mode.flag_control_velocity_enabled = status.condition_local_position_valid;
-		control_mode.flag_control_altitude_enabled = true;
-		control_mode.flag_control_climb_rate_enabled = true;
-		control_mode.flag_control_termination_enabled = false;
-		break;
-
 	case vehicle_status_s::NAVIGATION_STATE_DESCEND:
 		/* TODO: check if this makes sense */
 		control_mode.flag_control_manual_enabled = false;
diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h
index baf651f08c..ebe9c73601 100644
--- a/src/modules/commander/px4_custom_mode.h
+++ b/src/modules/commander/px4_custom_mode.h
@@ -50,7 +50,8 @@ enum PX4_CUSTOM_MAIN_MODE {
 	PX4_CUSTOM_MAIN_MODE_AUTO,
 	PX4_CUSTOM_MAIN_MODE_ACRO,
 	PX4_CUSTOM_MAIN_MODE_OFFBOARD,
-	PX4_CUSTOM_MAIN_MODE_STABILIZED
+	PX4_CUSTOM_MAIN_MODE_STABILIZED,
+	PX4_CUSTOM_MAIN_MODE_RATTITUDE
 };
 
 enum PX4_CUSTOM_SUB_MODE_AUTO {
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 742776140c..2581865338 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -592,7 +592,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
 			if (status->condition_global_position_valid && status->condition_home_position_valid) {
 				status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER;
 			} else if (status->condition_local_position_valid) {
-				status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND;
+				status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
 			} else if (status->condition_local_altitude_valid) {
 				status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
 			} else {
@@ -670,7 +670,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
 			if (status->condition_global_position_valid && status->condition_home_position_valid) {
 				status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS;
 			} else if (status->condition_local_position_valid) {
-				status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND;
+				status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
 			} else if (status->condition_local_altitude_valid) {
 				status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
 			} else {
@@ -687,7 +687,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
 			if (status->condition_global_position_valid && status->condition_home_position_valid) {
 				status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER;
 			} else if (status->condition_local_position_valid) {
-				status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND;
+				status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
 			} else if (status->condition_local_altitude_valid) {
 				status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
 			} else {
@@ -711,7 +711,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
 			if (status->condition_global_position_valid && status->condition_home_position_valid) {
 				status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS;
 			} else if (status->condition_local_position_valid) {
-				status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND;
+				status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
 			} else if (status->condition_local_altitude_valid) {
 				status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
 			} else {
@@ -725,7 +725,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
 			if (status->condition_global_position_valid && status->condition_home_position_valid) {
 				status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS;
 			} else if (status->condition_local_position_valid) {
-				status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND;
+				status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
 			} else if (status->condition_local_altitude_valid) {
 				status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
 			} else {
@@ -753,7 +753,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
 			status->failsafe = true;
 
 			if (status->condition_local_position_valid) {
-				status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND;
+				status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
 			} else if (status->condition_local_altitude_valid) {
 				status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
 			} else {
@@ -774,7 +774,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
 			status->failsafe = true;
 
 			if (status->condition_local_position_valid) {
-				status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND;
+				status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
 			} else if (status->condition_local_altitude_valid) {
 				status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
 			} else {
@@ -800,7 +800,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
 				status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION;
 			}
 		} else {
-			status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND;
+			status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
 		}
 		break;
 
@@ -814,7 +814,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
 			status->failsafe = true;
 
 			if (status->condition_local_position_valid) {
-				status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND;
+				status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
 			} else if (status->condition_local_altitude_valid) {
 				status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
 			} else {
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 88fff90e7b..3837711c98 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -139,6 +139,11 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
 			break;
 
+		case vehicle_status_s::NAVIGATION_STATE_RATTITUDE:
+			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_RATTITUDE;
+			break;
+
 		case vehicle_status_s::NAVIGATION_STATE_STAB:
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
 								  | MAV_MODE_FLAG_STABILIZE_ENABLED;
@@ -192,7 +197,7 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
 			break;
 
-		case vehicle_status_s::NAVIGATION_STATE_LAND:
+		case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
 		case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL:
 		case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL:
 			/* fallthrough */
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index f17f687627..3555198fd4 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -486,7 +486,7 @@ Navigator::task_main()
 				_pos_sp_triplet_published_invalid_once = false;
 				_navigation_mode = &_takeoff;
 				break;
-			case vehicle_status_s::NAVIGATION_STATE_LAND:
+			case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
 				_pos_sp_triplet_published_invalid_once = false;
 				_navigation_mode = &_land;
 				break;