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Setting attitude to hold in acro mode

If I’m understanding acro mode correctly, if no yaw/pitch/roll rotation rates are requested through the PWM values (1500) sent to the pixhawk, the vehicle should attempt to maintain the current attitude. What would be the appropriate way to “re-set” the attitude programmatically with pymavlink? Is the best method to do this to toggle to manual and back to acro quickly? e.g. It’s in acro mode, we request a pitch rotation until the vehicle is now +30 degrees in pitch, and would like to maintain that as the new holding attitude.