After the first flight there were a couple of obvious items that needed to be addressed. More flight modes and getting rid of the wobble.
First the flight modes.
I had only figured out how to set up the controller to allow for two different flight modes (stabilze and altitude hold). With so many modes available on the APM this seemed like a shame. It took a while but by carefully following the instructions on this page I was finally able to get myself up to six flight modes by using a combination of 2-way and 3-way switches.
Along the way I had an epiphany that the controller sends out frequencies (or something that can be counted) and that the APM looks for values from the different input channels being in ranges (because it isn’t exact). So a value between 1,231 and 1,360 (for example) can be assigned to a particular flight mode.
Great! A mystery solved. Now all those calibration movements make sense.
Not only did I manage to assign the six flight modes, but on the extended tuning I was able to assign Channel 7 to a switch on my controller that would automatically tell the quad to land. This has been a real life saver because even when it starts going crazy, switching to land will calm it down and bring it down to Earth better than I can do.