"@Tomas: The best way is to directly look at the code, attitude.pde and navigation.pde. It is commented pretty well. From the wiki just click on the source tab and browse...
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"@F11music.com
I don't have experience with that specific TX, but you need to get control surfaces to work properly in manual mode first. This is so you can always safely take over. Once you get that working, it is a matter of configuring APM for…"