I can remove both this and the above UAVO as unused (Although instead of removing the above UAVO, it might be smarter to add it to the RateDesired #ifdef). I agree it doesn't make much sense outside of fixed-wing, and is intended to work with UAVO structs. What I'm trying to think about right now is whether it makes more sense to link this to airspeeds or to a finite state machine. The advantage of using airspeeds is that it's independent of mode names. The problem is that we don't actually want airspeed to be the driving parameter, and we might not even have airspeed, e.g. if a human pilot is controlling the FSM manually through his/her transmitter.