Custom flight modes


I'm relatively new to Arduino and Ardupilot, but my background is in electrical engineering, so C++ is not entirely new to me.  I'm currently working on a small UAV project and I need some help.  I posted in the Arduplane forums, but so far no one has responded:

If someone with knowledge of APM 2.xx would be able to give me some tips, that would be much appreciated!

If a moderator thinks it would be more appropriate to have my original thread moved to this discussion board, please do so! (or tell me to do it and I'll try to figure out how...)

Thanks in advance.

- Lewis

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