A method of operating a rotorcraft, the method comprising: operating the rotorcraft in a first mode comprising determining a translational speed based on a pilot stick signal generated by a pilot stick assembly (401a,b), determining an attitude based on the determined translational speed, determining an actuator command based on the determined attitude, determining the actuator command comprising using a first dynamic controller having an integrator; providing an output of the first dynamic controller to an actuator, wherein a translational speed of the rotorcraft is proportional to an amplitude of the pilot stick signal in the first mode; and transitioning from the first mode to a second mode when a velocity of the rotorcraft exceeds a first velocity threshold, transitioning comprising: fading out a gain of the first dynamic controller over a first period of time, and decreasing a value of the integrator over a second period of time; and operating the rotorcraft in the second mode comprising providing an output of an attitude rate controller to the actuator, wherein the output of the attitude rate controller is proportional to an amplitude of the pilot stick signal. operating the rotorcraft in a first mode comprising determining a translational speed based on a pilot stick signal generated by a pilot stick assembly (401a,b), determining an attitude based on the determined translational speed, determining an actuator command based on the determined attitude, determining the actuator command comprising using a first dynamic controller having an integrator; providing an output of the first dynamic controller to an actuator, wherein a translational speed of the rotorcraft is proportional to an amplitude of the pilot stick signal in the first mode; and transitioning from the first mode to a second mode when a velocity of the rotorcraft exceeds a first velocity threshold, transitioning comprising: fading out a gain of the first dynamic controller over a first period of time, and decreasing a value of the integrator over a second period of time; and determining a translational speed based on a pilot stick signal generated by a pilot stick assembly (401a,b), determining an attitude based on the determined translational speed, determining an actuator command based on the determined attitude, determining the actuator command comprising using a first dynamic controller having an integrator; providing an output of the first dynamic controller to an actuator, wherein a translational speed of the rotorcraft is proportional to an amplitude of the pilot stick signal in the first mode; and transitioning from the first mode to a second mode when a velocity of the rotorcraft exceeds a first velocity threshold, transitioning comprising: fading out a gain of the first dynamic controller over a first period of time, and decreasing a value of the integrator over a second period of time; and fading out a gain of the first dynamic controller over a first period of time, and decreasing a value of the integrator over a second period of time; and operating the rotorcraft in the second mode comprising providing an output of an attitude rate controller to the actuator, wherein the output of the attitude rate controller is proportional to an amplitude of the pilot stick signal.