Segmentation fault with MAV_CMD_DO_SET_MODE


I just realized that ArduPilot does not support MAV_CMD_DO_SET_MODE. However, when I send the DO_SET_MODE message, it causes a segmentation fault.

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.

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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 ?

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Thanks for the confirmation.

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.

@khancyr @rmackay9 Thank you for the feedback!

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