For the canvas part - not the vinyl - I use iron-on patches from the fabric section of Wal-Mart. Pretty soon, my camper will be nothing but those patches. I have one of my kids hold a small ironing board up on the inside and iron the patch on from the outside. If it's a particularly bad spot, I put an additional patch on the inside as well. The people we bought the camper from did the same and those patches have held for years.
A new canvas isn't in the budget until next year (if I'm lucky), but for now we just patch the heck out of it. I just leave the iron and the ironing board in the camper. That's the only time I use them. :)