diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 9c8e0099b05f..36c73a63c305 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -607,6 +607,9 @@ 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;