UPDATE: looking at it the calculation the trimmed value is used here and in the #else section. 

I can do this:
```
float local_error[3] = {
			bound(stabilizationDesired.Roll + trimAngles.Roll, settings.RollMax) - attitudeActual.Roll,
			bound(stabilizationDesired.Pitch + trimAngles.Pitch, settings.PitchMax) - attitudeActual.Pitch,
			bound(stabilizationDesired.Yaw + trimAngles.Yaw, settings.YawMax) - attitudeActual.Yaw};
```
but the theoretical foundations become opaque. I'll leave it where it is, but improve the comment and change the variable name so as to avoid confusion.