Software error - when taxing aircraft (Spitfire)

The same problem is with others planes. I Use Pro flight yoke system (Saitek pro flight yoke + saitek pro flight rudder pedals).
I tried various combinations of setup setting (in the menu for yoke & pedals) in items “Autoruder off”, “Toggle autoruder”, NONE IS WORKING, I CAN STEER PLANE ON GROUND WITH USE OF AILERONS similar to a cars. Pedals are working too.
Any idea?
P.s. In “Tips&Tricks” I found this: " RUDDER CONTROLS - To steer the aircraft on the ground use Joystick R- Axis Z
What does that mean? How do I connect steering on the ground with usage of pedals only?
Thanks