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AutoQuad :: Autonomous Multi Rotor Vehicle Controller
Also, if my channel mappings are all mixed up in QGroundControl, should I change them to be correct on my radio or is there a way to switch them in QGroundControl?
You can't change them in QGC. You can either remap them in your radio; or in the code and recompile. As of right now, AQ expects the various controls at a specific channel slot.