Current RC Map:

Channel 6: Formation enable (high = enabled). Also configured as RC override enable.
Channel 7: Left Middle loop tuning knob, Pitch middle loop gains or P middle loop gain
Channel 8: Right Middle loop tuning knob, Roll middle loop gains or switched I gain
Channel 9: Right slider thing. Speed gains
Channel 10: Left switch. Middle loop select switch: Low = speed, Mid = heading, High = Pitch
Channel configurable: Formation scale Channel configurable: Formation index