Noob questions on adding sensors...

Hello all.I want to add a sensor that takes readings from the environment.The sensor is arduino compatible and would input to the apm on an analog input pin.I have used apm for quite some time but have never played with the code. I can code the inter webs so have at least a basic understanding of form, I guess (shrug).Basically, I want to know how I can write code to make the copter respond to the input from the sensor...once a value is reached on the input it would implement things like return to land, power down everything and plummet and the such. This does not need to be switchable, I could reload the modified set up each time as desired.Any help even on where to start on this would be much appreciated.Kind regardsTeddy

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