regarding your mixer thing: what about having a set of configurable mixes like in er9x (http://www.youtube.com/watch?v=uc3TdQhNc_g). it would be enough to have those sources: rcchannels, pid loops, fixed value and a weight for each of them.
it's not that easy to implement it so it's usable in the console but it would be possible
edit: i tried it on my wing right now. mixes in gui seem ok but they aren't written to the servos. tried to add
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in writeServos in mixer.c line 200 but it didn't do the job