From abe5bbfa4d5203e6606b9ef4c3e5919fc36fb665 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 24 Aug 2012 15:18:22 +1000
Subject: [PATCH] APM: support forcing MANUAL of FBWA mode over MAVLink

---
 ArduPlane/GCS_Mavlink.pde | 25 +++++++++++++++++++++++++
 1 file changed, 25 insertions(+)

diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 0e8fedb644..0f3382ed09 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -1053,6 +1053,31 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             result = MAV_RESULT_ACCEPTED;
             break;
 
+        case MAV_CMD_DO_SET_MODE:
+            switch ((uint16_t)packet.param1) {
+            case MAV_MODE_MANUAL_ARMED:
+            case MAV_MODE_MANUAL_DISARMED:
+                set_mode(MANUAL);
+                result = MAV_RESULT_ACCEPTED;
+                break;
+
+            case MAV_MODE_AUTO_ARMED:
+            case MAV_MODE_AUTO_DISARMED:
+                set_mode(AUTO);
+                result = MAV_RESULT_ACCEPTED;
+                break;
+
+            case MAV_MODE_STABILIZE_DISARMED:
+            case MAV_MODE_STABILIZE_ARMED:
+                set_mode(FLY_BY_WIRE_A);
+                result = MAV_RESULT_ACCEPTED;
+                break;
+
+            default:
+                result = MAV_RESULT_UNSUPPORTED;
+            }
+            break;
+
 
         default:
             result = MAV_RESULT_UNSUPPORTED;