Dynam 7ch rx binds to 2602tx

Well, I spent the last 2 days working on this ridiculous protocol. I came up with a scheme that would allow full proportional output on ch 1,2,3,4,6,7.
Decoupling Channels 3(Thr) and 6(Pitch) has required a amount of analysis and requires a lot of complex adjustments, but it actually works almost.
I have very smooth independent control over pitch and throttle EXCEPT that there is jitter in the throttle as it passes through the neutral (0%) point.
This is because the only way to get independent pitch control is to effectively use trims to control the throttle, and you need to do a servo-reverse as it goes through 0. This causes the Rx to jitter even if the calcuclated output value is the same. So at this point I have an almost working setup, but it is probably completely useless unless I can figure out how to fix the glitch.

The code is now checked in.
There are 3 different WK2601 modes:
5+1 : Ail, Ele, Thr, Rud, Gyro + Gear. Ch6(pitch) is zeroed out.
Heli: Ail, Ele, Thr, Rud, Gyro + Gear. Pitch will move with throttle. Ch6 enable fmode and thr/pitch ratio
6+1: Ail, Ele, Thr, Rud, Pitch, Gyro + Gear. This gives 6 fully proportional channels, but as mentioned above, there is a slight glitch as the throttle moves through 50%, and there may be some linearity problems on Thr and Pitch.