I'm studying how to change PIDs in flight during a mission with Ardupilot and Mission Planner.
I know the PID tuning procedure through channel 6 but I can not find any command that allows to change the PID through a switch. Imagine that the drone during the flight becomes heavier, it is necessary to change the PID to a value previously tested.
I would therefore like, in flight, to make a switch that changes the PIDs and then continue the mission.
does anyone know how it could be done?