diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 3e0a2227aa..6fe2982a9f 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -1347,6 +1347,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             break;
         }
 
+        case MAV_CMD_DO_AUTOTUNE_ENABLE:
+            // param1 : enable/disable
+            plane.autotune_enable(packet.param1);
+            break;
+
         default:
             break;
         }
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 2b09ae9737..0d76bd0a6d 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -751,6 +751,7 @@ private:
     void reset_control_switch();
     void autotune_start(void);
     void autotune_restore(void);
+    void autotune_enable(bool enable);
     bool fly_inverted(void);
     void failsafe_short_on_event(enum failsafe_state fstype);
     void failsafe_long_on_event(enum failsafe_state fstype);
diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index 870e1b0fa0..593f17d95e 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -145,6 +145,9 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
             }
         }    
 #endif
+
+    case MAV_CMD_DO_AUTOTUNE_ENABLE:
+        autotune_enable(cmd.p1);
         break;
 
 #if CAMERA == ENABLED
@@ -267,6 +270,7 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd)        // Ret
     case MAV_CMD_DO_INVERTED_FLIGHT:
     case MAV_CMD_DO_LAND_START:
     case MAV_CMD_DO_FENCE_ENABLE:
+    case MAV_CMD_DO_AUTOTUNE_ENABLE:
         return true;
 
     default:
diff --git a/ArduPlane/control_modes.cpp b/ArduPlane/control_modes.cpp
index 88c61cd26f..589afab33d 100644
--- a/ArduPlane/control_modes.cpp
+++ b/ArduPlane/control_modes.cpp
@@ -146,6 +146,18 @@ void Plane::autotune_restore(void)
     pitchController.autotune_restore();
 }
 
+/*
+  enable/disable autotune for AUTO modes
+ */
+void Plane::autotune_enable(bool enable)
+{
+    if (enable) {
+        autotune_start();
+    } else {
+        autotune_restore();
+    }
+}
+
 /*
   are we flying inverted?
  */