Offboardmode different control modes


i was wondering if there is any need in changing the fields of the OffboardControlMode msg during flight if i want to switch from a position controlled approach (e. g. points from a path planer) to a velocity controlled approach (e. g. joystick values). From my understanding i should change the fields in the OffboardControlMode msg accordingly.

Now i was playing around with the offboard example in the px4_ros_com pkg and discovered that it does not matter if i change the fields or not. I can set the position field to true and send positions and the drone follows. But i can send velocities as well with the position field set to nan and the drone does it thing.

So is there any need to change the OffboardControlMode msg fields if i want to switch between the 2 approaches? Or am i missing something?

Thanks in advance!