Changing Pixhawk flight modes

Hello,

I'm using the Pixhawk autopilot with a telemetry link and a 6 channel Spektrum transmitter. 

6 channels don't don't allow me to cover all the flight modes that I desire to use.

 

Question:

Is it possible to change the flight modes of my quad in flight using the Mission Planner software and telemetry link instead of the RC Tx?

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