diff --git a/flix/cli.ino b/flix/cli.ino
index c6be7cd..80e5d95 100644
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -8,10 +8,12 @@
 #include "util.h"
 
 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
+extern const int ACRO, STAB, AUTO;
 extern float loopRate, dt;
 extern double t;
 extern uint16_t channels[16];
 extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlArmed, controlMode;
+extern int mode;
 extern bool armed;
 
 const char* motd =
@@ -34,6 +36,7 @@ const char* motd =
 "imu - show IMU data\n"
 "arm - arm the drone (when no armed switch)\n"
 "disarm - disarm the drone (when no armed switch)\n"
+"stab/acro/auto - set mode (when no mode switch)\n"
 "rc - show RC data\n"
 "mot - show motor output\n"
 "log - dump in-RAM log\n"
@@ -116,6 +119,12 @@ void doCommand(String str, bool echo = false) {
 		armed = true;
 	} else if (command == "disarm") {
 		armed = false;
+	} else if (command == "stab") {
+		mode = STAB;
+	} else if (command == "acro") {
+		mode = ACRO;
+	} else if (command == "auto") {
+		mode = AUTO;
 	} else if (command == "rc") {
 		print("channels: ");
 		for (int i = 0; i < 16; i++) {
diff --git a/flix/control.ino b/flix/control.ino
index b23c786..b837ccd 100644
--- a/flix/control.ino
+++ b/flix/control.ino
@@ -34,7 +34,8 @@
 #define TILT_MAX radians(30)
 #define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz
 
-enum { MANUAL, ACRO, STAB, AUTO } mode = STAB;
+const int MANUAL = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes
+int mode = STAB;
 bool armed = false;
 
 PID rollRatePID(ROLLRATE_P, ROLLRATE_I, ROLLRATE_D, ROLLRATE_I_LIM, RATES_D_LPF_ALPHA);
diff --git a/flix/mavlink.ino b/flix/mavlink.ino
index b7f0ae7..7cbd853 100644
--- a/flix/mavlink.ino
+++ b/flix/mavlink.ino
@@ -226,8 +226,8 @@ void handleMavlink(const void *_msg) {
 		}
 
 		if (m.command == MAV_CMD_DO_SET_MODE) {
-			if (!(m.param2 >= 0 && m.param2 <= AUTO)) return;
-			mode = static_cast<decltype(mode)>(m.param2);
+			if (!(m.param2 >= 0 && m.param2 <= AUTO)) return; // incorrect mode
+			mode = m.param2;
 			mavlink_msg_command_ack_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &ack, m.command, MAV_RESULT_ACCEPTED, UINT8_MAX, 0, msg.sysid, msg.compid);
 			sendMessage(&ack);
 		}