diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
index c62039167151a2..6712e3fa059ba0 100644
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@@ -949,6 +949,11 @@ void GCS_MAVLINK_Rover::handle_set_position_target_local_ned(const mavlink_messa
         }
     }
 
+    if (!acc_ignore) {
+        // ignore any command where acceleration is not ignored
+        return;
+    }
+
     // set guided mode targets
     if (!pos_ignore) {
         // consume position target
@@ -956,19 +961,22 @@ 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) {
+        return;
+    }
+
+    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 && acc_ignore && yaw_ignore && !yaw_rate_ignore) {
+    } 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 && acc_ignore && !yaw_ignore && yaw_rate_ignore) {
+    } 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 && acc_ignore && !yaw_ignore && yaw_rate_ignore) {
+    } 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 && acc_ignore && yaw_ignore && !yaw_rate_ignore) {
+    } 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);
     }