Interrupt Program

Hi, i want to make 3 axis gimbal using arduino. I use 3 servo motor and multiwii board to control the stabilization. So far i success to stabilized all of three axis. But, i want to make additional feature to this system, the manual control. So, when the stabilized system active, i can interrupt the program with the manual control of servo too, and the system can detect the last position of manual control of servo, then stabilized the last position.

How can i do that?

Thank you..

You could start by posting your code. An interrupt doesn't sound like it will be a useful option.