From 01abe35563e95aec62eb94fbee7ebd92ce322551 Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Thu, 10 Apr 2025 17:03:20 +1000 Subject: [PATCH] MAV_CMD_DO_SET_MODE - add support --- src/modules/mavlink/mavlink_receiver.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 9c8e0099b0..1d1752a398 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -606,6 +606,9 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED; send_ack = true; } + + } else if (cmd_mavlink.command == MAV_CMD_DO_SET_MODE) { + _cmd_pub.publish(vehicle_command); } else if (cmd_mavlink.command == MAV_CMD_DO_AUTOTUNE_ENABLE) {