diydrones/ardupilot — pull request #1520 by brad112358 (2014-10-24 20:00:45+00:00)
Title: Allow direct use of autotune mode

Make direct use of autotune mode (via ch5 for example) equivalent to starting autotune via sw7/8.

This could use more testing, but I believe this should be enough to allow direct use of autotune via mode change sw5 or ground station.