Changing PID during Mission

Hello everyone
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?
thank you

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  • Your gcs, or onboard computer can easily update the appropriate parameters.

    Also, for most configurations, an increased load, does not require change to PIDs to still fly well.

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