How to start the auto mission in fixed wing model

Hi
Am using pixhawk cube ( black) .when am given the auto mode then shake the plane the throttle motor is not rotating .am new to ardupilot software ( autopilot ).am previously am check loiter and RTL is working properly . autotune also completed .when am given mission mode then shake the plane the throttle motor is not rotating. what is the problem ?
How to give the waypoints and how to start the hand launch my plane ?
Please anybody help me.