diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 04cb851324..8e0861818f 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -1490,13 +1490,10 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 		manual.y = man.y / 1000.0f;
 		manual.r = man.r / 1000.0f;
 		manual.z = man.z / 1000.0f;
+		manual.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
 
-		if (_manual_pub == nullptr) {
-			_manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
-
-		} else {
-			orb_publish(ORB_ID(manual_control_setpoint), _manual_pub, &manual);
-		}
+		int m_inst;
+		orb_publish_auto(ORB_ID(manual_control_setpoint), &_manual_pub, &manual, &m_inst, ORB_PRIO_LOW);
 	}
 }