diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
index f38e8f3dd0498..006b6378036e2 100644
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@@ -941,21 +941,23 @@ void GCS_MAVLINK_Rover::handle_set_position_target_local_ned(const mavlink_messa
             // GCS will need to monitor desired location to
             // see if they are having an effect.
         }
-    } else if (!vel_ignore && acc_ignore && yaw_ignore && yaw_rate_ignore) {
-        // consume velocity
-        rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, speed_dir * target_speed);
-    } else if (!vel_ignore && acc_ignore && yaw_ignore && !yaw_rate_ignore) {
-        // consume velocity and turn rate
-        rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, speed_dir * target_speed);
-    } else if (!vel_ignore && acc_ignore && !yaw_ignore && yaw_rate_ignore) {
-        // consume velocity and heading
-        rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, speed_dir * target_speed);
-    } else if (vel_ignore && acc_ignore && !yaw_ignore && yaw_rate_ignore) {
-        // consume just target heading (probably only skid steering vehicles can do this)
-        rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, 0.0f);
-    } else if (vel_ignore && acc_ignore && yaw_ignore && !yaw_rate_ignore) {
-        // consume just turn rate (probably only skid steering vehicles can do this)
-        rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, 0.0f);
+    } else if (acc_ignore) {
+        if (!vel_ignore && yaw_ignore && yaw_rate_ignore) {
+            // consume velocity
+            rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, speed_dir * target_speed);
+        } else if (!vel_ignore && yaw_ignore && !yaw_rate_ignore) {
+            // consume velocity and turn rate
+            rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, speed_dir * target_speed);
+        } else if (!vel_ignore && !yaw_ignore && yaw_rate_ignore) {
+            // consume velocity and heading
+            rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, speed_dir * target_speed);
+        } else if (vel_ignore && !yaw_ignore && yaw_rate_ignore) {
+            // consume just target heading (probably only skid steering vehicles can do this)
+            rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, 0.0f);
+        } else if (vel_ignore && yaw_ignore && !yaw_rate_ignore) {
+            // consume just turn rate (probably only skid steering vehicles can do this)
+            rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, 0.0f);
+        }
     }
 }
 
@@ -1037,21 +1039,23 @@ void GCS_MAVLINK_Rover::handle_set_position_target_global_int(const mavlink_mess
             // GCS will just need to look at desired location
             // outputs to see if it having an effect.
         }
-    } else if (!vel_ignore && acc_ignore && yaw_ignore && yaw_rate_ignore) {
-        // consume velocity
-        rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, speed_dir * target_speed);
-    } else if (!vel_ignore && acc_ignore && yaw_ignore && !yaw_rate_ignore) {
-        // consume velocity and turn rate
-        rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, speed_dir * target_speed);
-    } else if (!vel_ignore && acc_ignore && !yaw_ignore && yaw_rate_ignore) {
-        // consume velocity
-        rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, speed_dir * target_speed);
-    } else if (vel_ignore && acc_ignore && !yaw_ignore && yaw_rate_ignore) {
-        // consume just target heading (probably only skid steering vehicles can do this)
-        rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, 0.0f);
-    } else if (vel_ignore && acc_ignore && yaw_ignore && !yaw_rate_ignore) {
-        // consume just turn rate(probably only skid steering vehicles can do this)
-        rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, 0.0f);
+    } else if (acc_ignore) {
+        if (!vel_ignore && yaw_ignore && yaw_rate_ignore) {
+            // consume velocity
+            rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, speed_dir * target_speed);
+        } else if (!vel_ignore && yaw_ignore && !yaw_rate_ignore) {
+            // consume velocity and turn rate
+            rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, speed_dir * target_speed);
+        } else if (!vel_ignore && !yaw_ignore && yaw_rate_ignore) {
+            // consume velocity
+            rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, speed_dir * target_speed);
+        } else if (vel_ignore && !yaw_ignore && yaw_rate_ignore) {
+            // consume just target heading (probably only skid steering vehicles can do this)
+            rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, 0.0f);
+        } else if (vel_ignore && yaw_ignore && !yaw_rate_ignore) {
+            // consume just turn rate(probably only skid steering vehicles can do this)
+            rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, 0.0f);
+        }
     }
 }