diff --git a/msg/transponder_report.msg b/msg/transponder_report.msg
index 477214d3f4a6..11a3be9e6088 100644
--- a/msg/transponder_report.msg
+++ b/msg/transponder_report.msg
@@ -12,4 +12,13 @@ uint8 tslc 		# Time since last communication in seconds
 uint16 flags 		# Flags to indicate various statuses including valid data fields
 uint16 squawk 		# Squawk code
 
+# ADSB flags
+uint16 PX4_ADSB_FLAGS_VALID_COORDS = 1
+uint16 PX4_ADSB_FLAGS_VALID_ALTITUDE = 2
+uint16 PX4_ADSB_FLAGS_VALID_HEADING = 4
+uint16 PX4_ADSB_FLAGS_VALID_VELOCITY = 8
+uint16 PX4_ADSB_FLAGS_VALID_CALLSIGN = 16
+uint16 PX4_ADSB_FLAGS_VALID_SQUAWK = 32
+uint16 PX4_ADSB_FLAGS_RETRANSLATE = 256
+
 uint32 ORB_QUEUE_LENGTH = 10
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index f1016660fb9d..67594d76240e 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -1346,6 +1346,8 @@ class MavlinkStreamADSBVehicle : public MavlinkStream
 		while (_pos_sub->update(&_pos_time, &pos)) {
 			mavlink_adsb_vehicle_t msg = {};
 
+			if (!(pos.flags & transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE)) { continue; }
+
 			msg.ICAO_address = pos.ICAO_address;
 			msg.lat = pos.lat * 1e7;
 			msg.lon = pos.lon * 1e7;
@@ -1357,9 +1359,22 @@ class MavlinkStreamADSBVehicle : public MavlinkStream
 			memcpy(&msg.callsign[0], &pos.callsign[0], sizeof(msg.callsign));
 			msg.emitter_type = pos.emitter_type;
 			msg.tslc = pos.tslc;
-			msg.flags = pos.flags;
 			msg.squawk = pos.squawk;
 
+			msg.flags = 0;
+
+			if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS) { msg.flags |= ADSB_FLAGS_VALID_COORDS; }
+
+			if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE) { msg.flags |= ADSB_FLAGS_VALID_ALTITUDE; }
+
+			if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING) { msg.flags |= ADSB_FLAGS_VALID_HEADING; }
+
+			if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY) { msg.flags |= ADSB_FLAGS_VALID_VELOCITY; }
+
+			if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN) { msg.flags |= ADSB_FLAGS_VALID_CALLSIGN; }
+
+			if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK) { msg.flags |= ADSB_FLAGS_VALID_SQUAWK; }
+
 			mavlink_msg_adsb_vehicle_send_struct(_mavlink->get_channel(), &msg);
 			sent = true;
 		}
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 8813dae851ea..74d6c5ca5b95 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -2079,9 +2079,22 @@ void MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg)
 	memcpy(&t.callsign[0], &adsb.callsign[0], sizeof(t.callsign));
 	t.emitter_type = adsb.emitter_type;
 	t.tslc = adsb.tslc;
-	t.flags = adsb.flags;
 	t.squawk = adsb.squawk;
 
+	t.flags = transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE;  //Unset in receiver already broadcast its messages
+
+	if (adsb.flags & ADSB_FLAGS_VALID_COORDS) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS; }
+
+	if (adsb.flags & ADSB_FLAGS_VALID_ALTITUDE) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE; }
+
+	if (adsb.flags & ADSB_FLAGS_VALID_HEADING) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING; }
+
+	if (adsb.flags & ADSB_FLAGS_VALID_VELOCITY) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY; }
+
+	if (adsb.flags & ADSB_FLAGS_VALID_CALLSIGN) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN; }
+
+	if (adsb.flags & ADSB_FLAGS_VALID_SQUAWK) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK; }
+
 	//PX4_INFO("code: %d callsign: %s, vel: %8.4f, tslc: %d", (int)t.ICAO_address, t.callsign, (double)t.hor_velocity, (int)t.tslc);
 
 	if (_transponder_report_pub == nullptr) {
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index 63dfc9baf24e..42395c37a375 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -79,6 +79,7 @@
  */
 #define NAVIGATOR_MODE_ARRAY_SIZE 11
 
+
 class Navigator : public control::SuperBlock
 {
 public:
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 1a8b76dca04d..2c7f0593102c 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -963,7 +963,10 @@ void Navigator::fake_traffic(const char *callsign, float distance, float directi
 	strncpy(&tr.callsign[0], callsign, sizeof(tr.callsign));
 	tr.emitter_type = 0; // Type from ADSB_EMITTER_TYPE enum
 	tr.tslc = 2; // Time since last communication in seconds
-	tr.flags = 0; // Flags to indicate various statuses including valid data fields
+	tr.flags = transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS | transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING |
+		   transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY |
+		   transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE |
+		   transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN; // Flags to indicate various statuses including valid data fields
 	tr.squawk = 6667;
 
 	orb_advert_t h = orb_advertise_queue(ORB_ID(transponder_report), &tr, transponder_report_s::ORB_QUEUE_LENGTH);
@@ -993,10 +996,20 @@ void Navigator::check_traffic()
 		transponder_report_s tr;
 		orb_copy(ORB_ID(transponder_report), _traffic_sub, &tr);
 
+		uint16_t required_flags = transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS |
+					  transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING |
+					  transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY | transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE;
+
+		if ((tr.flags & required_flags) != required_flags) {
+			orb_check(_traffic_sub, &changed);
+			continue;
+		}
+
 		float d_hor, d_vert;
 		get_distance_to_point_global_wgs84(lat, lon, alt,
 						   tr.lat, tr.lon, tr.altitude, &d_hor, &d_vert);
 
+
 		// predict final altitude (positive is up) in prediction time frame
 		float end_alt = tr.altitude + (d_vert / tr.hor_velocity) * tr.ver_velocity;
 
@@ -1031,18 +1044,22 @@ void Navigator::check_traffic()
 
 					case 0: {
 							/* ignore */
-							PX4_WARN("TRAFFIC %s, hdg: %d", tr.callsign, traffic_direction);
+							PX4_WARN("TRAFFIC %s, hdg: %d", tr.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr.callsign :
+								 "unknown",
+								 traffic_direction);
 							break;
 						}
 
 					case 1: {
-							mavlink_log_critical(&_mavlink_log_pub, "WARNING TRAFFIC %s at heading %d, land immediately", tr.callsign,
+							mavlink_log_critical(&_mavlink_log_pub, "WARNING TRAFFIC %s at heading %d, land immediately",
+									     tr.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr.callsign : "unknown",
 									     traffic_direction);
 							break;
 						}
 
 					case 2: {
-							mavlink_log_critical(&_mavlink_log_pub, "AVOIDING TRAFFIC %s heading %d, returning home", tr.callsign,
+							mavlink_log_critical(&_mavlink_log_pub, "AVOIDING TRAFFIC %s heading %d, returning home",
+									     tr.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr.callsign : "unknown",
 									     traffic_direction);
 
 							// set the return altitude to minimum