This segmentation fault occurs in current master version ( 8b83b49e0b). On the other hand, this issue does not happen in Copter-3.6.0 at least. Thanks!
Thanks for the report, I’ve added it to the Copter-4.1 issues list. I strongly suspect that it is a SITL only issue because we don’t support do-set-mode in Copter as a mission item.
I confirm that this is a SITL Panic only ! We put the panic to explicitly notice that we don’t support this message. It won’t happen on real vehicle. @rmackay9, do you think we should support mode change from Auto ?
This has come up a few times and I’ve never heard a good argument for why we should add support for it. If there’s good justification for it then we could.