Position controller failsafe reported when the mission starts with a command

[dusan19]

When the mission is uploaded through mavlink mission interface (while the drone is in air), with the first mission item being a command such as MAV_CMD_DO_CHANGE_SPEED or MAV_CMD_DO_SET_ROI_LOCATION, the position controller reports:

WARN  [mc_pos_control] Position-Control Setpoint-Update failed
WARN  [mc_pos_control] Failsafe: stop and wait

After this I land and start the new mission from ground, with the following mission items:
change speed -> set roi -> takeoff -> waypoint
I get the following messages:

WARN  [mc_pos_control] Auto activation failed with error: Activation Failed
WARN  [mc_pos_control] Position-Ctrl activation failed with error: Activation Failed
WARN  [mc_pos_control] Altitude-Ctrl activation failed with error: Activation Failed

This doesn't happen when the command is not the first mission item.

In both cases, the mission still executes and ends properly, but these messages seem suspicious.
should the position controller even in any way be affected by the speed change or set roi command?

All mentioned is reproducible.

[stale]

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