PROBLEMMMMM-VIDEO

[lefteris]

 

[Jackson]

I would first assign the 3 way switch to ch 5 for your modes, using the pot seems like a hit or miss proposition. And I think you could assign a 2 position switch to ch 6 and use that for RTL. What flight modes have you chosen?

Is this the procedure you follow for arming?
http://ardupilot.org/copter/docs/arming_the_motors.html