While peeking around in the firmware I was wondering if a clear separation between control modes in combination with flight modes would make sense. The idea is that the control mode defines the type of application (plane, quadrocoper, ...) and the flight mode defines e.g Manual control, Take off, Stabilized flight, Pattern navigation, Return home, Landing, Hover, High-alpha flight, ...
I realize that is it may not be convenient to have all flight modes on one channel, but a selection of 3-5 modes could be controlled from the tx switch(es).
The reason for my suggestion is that the current code contains some #ifdef's and this kind of witholds me of hacking the code "main loop".