AP_Mission: enable DO_AUTOTUNE_ENABLE

libraries/AP_Mission/AP_Mission.cpp

@@ -672,7 +672,11 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
         cmd.content.guided_limits.alt_max = packet.param3;  // max alt above which the command will be aborted.  0 for no upper alt limit
         cmd.content.guided_limits.horiz_max = packet.param4;// max horizontal distance the vehicle can move before the command will be aborted.  0 for no horizontal limit
 
-    case MAV_CMD_NAV_ALTITUDE_WAIT:
+    case MAV_CMD_DO_AUTOTUNE_ENABLE:                    // MAV ID: 211
+        cmd.p1 = packet.param1;                         // disable=0 enable=1
+        break;
+
+    case MAV_CMD_NAV_ALTITUDE_WAIT:                     // MAV ID: 83
         cmd.content.altitude_wait.altitude = packet.param1;
         cmd.content.altitude_wait.descent_rate = packet.param2;
         cmd.content.altitude_wait.wiggle_time = packet.param3;
@@ -980,7 +984,11 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd,
         packet.param3 = cmd.content.guided_limits.alt_max;  // max alt above which the command will be aborted.  0 for no upper alt limit
         packet.param4 = cmd.content.guided_limits.horiz_max;// max horizontal distance the vehicle can move before the command will be aborted.  0 for no horizontal limit
 
-    case MAV_CMD_NAV_ALTITUDE_WAIT:
+    case MAV_CMD_DO_AUTOTUNE_ENABLE:
+        packet.param1 = cmd.p1;                         // disable=0 enable=1
+        break;
+
+    case MAV_CMD_NAV_ALTITUDE_WAIT:                     // MAV ID: 83
         packet.param1 = cmd.content.altitude_wait.altitude;
         packet.param2 = cmd.content.altitude_wait.descent_rate;
         packet.param3 = cmd.content.altitude_wait.wiggle_time;