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Arducopter Quad flight mode switch and FMU AUX output mysteries

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The setup is Holybro pixhawk 6C+M10 gps+ PM07, Tarot 650 frame and Sunnysky motors,props and ESC.
So far I’m making good progress toward successful stable flight.
However there are a couple of “mysteries” I could use some help.
I need to use a multiposition switch on my Tx to select a flight mode. But so far I haven’t been able to “de-code” the various parameters needed to do this. Any insight on this would be appreciated.
I addition I would like to setup camera gimble control using FMU AUX outputs from the 6C. Similar to the flight mode switch issue above for some reason my every effort to get this to work falls short. If anyone could give me a little guidance here I’d really appreciate it.
Thanks to all
TOM

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