Is there a way to control the mission path of a drone with a program using mavros in auto mode?

ArduCopter Copter 3.6
1

Hi. In the ardupilot auto mode, the route specified is to be changed to avoid obstacles.
However, ardupilot does not seem to be controlled by a program using mavros in auto mode.
How do I get control?

2

Change mode to GUIDED in mavros, go around the obstacle using MavROS, and set mode to AUTO again.

3

thank you for telling me.