Last night i finished up the wiring and we got the APM2.5 mounted in the rear.  

First iteration is just using a servo cable Y to the rear ESCs (just signal for second ESC), this will eventually become a separate output channel on the APM, and a signal cable running to the firgelli actuator controller (rc input). The IR distance sensor coming in to A0 as documented on the ardurover wiki. And steering/throttle potentiometer inputs coming in to A6 and A7 for now (need to research+play some more with this).  

My goal is to implement some code to interpret the pot range and apply to the output channel when a certain flight mode is selected.  I would really love some feedback from the ardupilot community as to how they would like to see it implemented, I have my own ideas (KISS by just overwriting the input channel, OR assign them directly to an entirely new “virtual channel”), but ultimately I would like to do it in a way that is beneficial to the entire community.