Throw Away!  Had to disable OptFlow to compile.
Creating Parameters for Angular Accel.
Reset angular accel values to zero when throttle is down on multirotors.
Change Acro_xxxx_Rate to Acro_Trainer_xxxx_Rate.
Change global acro_xxxx variables to sport_xxxx_angle.
Change local angular_rate variables into globals.
Reset global xxxx_angular_rate variables on mode change.
Make all local angle_error vars into global xxxx_angle_error, and reset them on mode changes.