def set_mode_manual(self):
        '''enter MANUAL mode'''
        if self.mavlink10():
            self.mav.command_long_send(self.target_system, self.target_component,
                                       mavlink.MAV_CMD_DO_SET_MODE, 0,
                                       mavlink.MAV_MODE_MANUAL_ARMED,
                                       0, 0, 0, 0, 0, 0)
        else:
            MAV_ACTION_SET_MANUAL = 12
            self.mav.action_send(self.target_system, self.target_component, MAV_ACTION_SET_MANUAL)