To automatically start APM on boot add the following (change -A and -C options to suit your setup) to /etc/rc.local file on your Raspberry Pi:
sudo ArduCopter-quad -A udp:192.168.1.2:14550 -C /dev/ttyAMA0 > /home/pi/startup_log &
Using the above 
does not auto-start my the APM/ navio on boot-up is it not supposed to? I’m not running a telemetry module I’m just running the udp wirelessly could I not also leave the: -C /dev/ttyAMA0 > part out? Either way I try it, it does not work. Help me out if you have experience with it please.
Thanks y’all!