You wrote:

"One way to switch between manual RC and Auto is to use a channel of the RX that the PIC reads. If it is high, then manual, low then auto for instance. but you need a spare channel. I use a Specktrum DX-7 TX/RX with 7 channels for all the goodies I need to control. This approach is useful if the Auto goes nuts, you can switch to manual with the flick of a switch."

Is that as easy as flipping a double pole double throw switch under PIC control?

I have not chosen a PIC. Is the PICaxe Starter Kit for fifty bucks what you would recommend? It does not have any spare proto space. Are pretty much all the sensors I might need directly connectable? Will I need additional off board interface circuitry for, say, a servo or a simple on/off motor? Microchip sells a PIC18FXX20 Demo Board. It contains their 18F8720. I think VEX uses their 18F8520.

I gotta purchase something and get started. One more thing. I have both Windows and Linux PC's at home. I assume that most everybody uses Windows.

Ken