Is autotune available on APM Planner 2.0.9? I cannot seem to figure out how to follow the instructions you provided. Mission Planner 1.3.1 is only available for Windows and I am on a Mac.[/quote]
Sorry, no idea about APM Planner.
But you should be able to set a flight mode to “8” in a full parameter list.
See link below for the flightmode parameter.
plane.ardupilot.com/wiki/ardupla … neFLTMODE1