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  1. I am currently trying to change the flight mode while flying my copter but cannot do it properly. Using mission planner's actions tab I can change the flight mode while the copter is disarmed on the ground without issue. Once I arm the drone it no longer responds to mode changes. This appears to be true for any mode change including RTL and AUTO. The flight computer is the pixhawk with standard firmware loaded onto it. I am using a 3dr DIY quad copter kit and a frsy receiver bound to an iris+ controller. I am unsure where the problem lies and am starting to think it may have to do with the configuration on my handheld controller. If anybody has any insight or recommendations as to where to look please let me know and thanks in advance!