Public bug reported:

I guess esp-udp is not supported  in IPv6. But when adding a SAD with
IPv6 and esp-udp, the error is silently ignored and no SAD is added. I
expect the command to fail and an error message to be output when adding
an unsupported SAD.

I modified an example from man setkey below:

#!/usr/sbin/setkey -f

add 3ffe:501:4819::1 3ffe:501:481d::1 esp-udp 123457
             -E des-cbc 0x3ffe05014819ffff ;

Versions:
Ubuntu: 12.04
ipsec-tools: 1:0.8.0-9ubuntu1
linux: 3.2.0-35-generic

ProblemType: Bug
DistroRelease: Ubuntu 12.04
Package: ipsec-tools 1:0.8.0-9ubuntu1
ProcVersionSignature: Ubuntu 3.2.0-35.55-generic 3.2.34
Uname: Linux 3.2.0-35-generic x86_64
ApportVersion: 2.0.1-0ubuntu15.1
Architecture: amd64
Date: Sat Dec 29 22:21:12 2012
InstallationMedia: Ubuntu 12.04 LTS "Precise Pangolin" - Release amd64 
(20120425)
MarkForUpload: True
ProcEnviron:
 TERM=xterm
 PATH=(custom, no user)
 LANG=en_US.UTF-8
 SHELL=/bin/bash
SourcePackage: ipsec-tools
UpgradeStatus: No upgrade log present (probably fresh install)
modified.conffile..etc.ipsec.tools.conf: [modified]
mtime.conffile..etc.ipsec.tools.conf: 2012-12-29T22:09:29.404383

** Affects: ipsec-tools (Ubuntu)
     Importance: Undecided
         Status: New


** Tags: amd64 apport-bug precise

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https://bugs.launchpad.net/bugs/1094547

Title:
  setkey fails to detect invalid use of esp-udp with IPv6

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