From aa745f2949e0446a1826394cec09e47bdef19686 Mon Sep 17 00:00:00 2001
From: PX4BuildBot <bot@pixhawk.org>
Date: Wed, 30 Jul 2025 09:56:35 +1000
Subject: [PATCH] [1.16 backport] 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 cf683eaa10..48d0b5795e 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
 			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) {
 
 		bool has_module = true;