No, only while connected by USB. (That's because the board has to reset to go into the CLI, and it's not safe to allow that unless it's on the ground)
Tridge says there's a way, but you have to reset the board and enter CLI before it finishes the boot. You'll have to search for the post.
It is possible on an APM2, but not on an APM1. The reason is that on the APM2 both the USB serial and the telemetry are actually the same serial port, and the CLI is tied to that serial port. On the APM1 they are separate serial ports, so the CLI won't work via the telemetry link.
The trick to getting it to work is to ensure you "hit enter 3 times" (like it says at bootup) before you send any MAVLink messages. So reset your APM2, then connect with a serial console and hit enter 3 times. You will be in the CLI.
Thanks for the response....
I get connected via 3DR (at 57600), then I reset the APM2 and after a few seconds I open the CLI and hit enter 3 times. I get the following from the CLI window. (see attached).
Rick: The CLI only works over USB; you can't use it remotely over a wireless link.
Well, that is what you said at the beginning of this thread (see your comment 5-26-12 above). But then Tridge seems to believe it is possible (see his response 6-8-12 above). Maybe I am not being clear ?
Thanks again Chris for your help.
The problem is that you need to reset the board to get into the mode where it will listen for the three enters before going into MAVLink mode. There's no way to reset the board wirelessly. I don't see how to do it unless it's on the ground and you can press the reset button.