From b7d9876cd989dc24b391c090b149e63e4cf77109 Mon Sep 17 00:00:00 2001
From: Loic Fernau <115560580+NXPLoic@users.noreply.github.com>
Date: Wed, 28 Jan 2026 17:36:21 +0100
Subject: [PATCH] Added missing Defaults to VEHICLE_CMD_DO_SET_MODE (#26291)

* Added missing Defaults to VEHICLE_CMD_DO_SET_MODE

* Made Format
---
 src/modules/commander/Commander.cpp | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index a35f03e933..ead99ad3d6 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -917,6 +917,12 @@ Commander::handle_command(const vehicle_command_s &cmd)
 
 				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_OFFBOARD) {
 					desired_nav_state = vehicle_status_s::NAVIGATION_STATE_OFFBOARD;
+
+				} else {
+					main_ret = TRANSITION_DENIED;
+					mavlink_log_critical(&_mavlink_log_pub, "Unsupported main mode\t");
+					events::send(events::ID("commander_unsupported_main_mode"), events::Log::Error,
+						     "Unsupported main mode");
 				}
 
 			} else {
@@ -934,6 +940,12 @@ Commander::handle_command(const vehicle_command_s &cmd)
 					} else {
 						desired_nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
 					}
+
+				} else {
+					main_ret = TRANSITION_DENIED;
+					mavlink_log_critical(&_mavlink_log_pub, "Unsupported base mode\t");
+					events::send(events::ID("commander_unsupported_base_mode"), events::Log::Error,
+						     "Unsupported base mode");
 				}
 			}