I cannot find anywhere on how to initialize the waypoint flight pattern that I have set.
I know it's just a switch, but how do you set a switch to move from stab. mode to autopilot?
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You need to set your flight modes in the config panel of Mission Planner. Depending on your transmitter there are a variety of ways to assign these modes to switches, and the APM:Copter website has tutorials for many popular ones. Then you just flick a switch or two and the heli switches from Stabilize to Auto to follow its waypoints.