A method comprising: obtaining a first signal from a first sensor of a rotorcraft, the first signal indicating measured angular velocity around a first axis of the rotorcraft; filtering the first signal with a lag compensator to estimate angular position around the first axis of the rotorcraft using only the measured angular velocity around the first axis of the rotorcraft; and adjusting flight control devices of the rotorcraft according to the estimated angular position and the measured angular velocity around the first axis of the rotorcraft, thereby changing flight characteristics of the rotorcraft around the first axis of the rotorcraft, characterized in that adjusting the flight control devices of the rotorcraft comprises: executing a first flight control procedure according to the estimated angular position around the first axis of the rotorcraft, the first flight control procedure not using a measured angular position around the first axis of the rotorcraft, wherein the measured angular position around the first axis of the rotorcraft is measured with a second signal from a second sensor of the rotorcraft, wherein the first sensor is a rate sensor and the second sensor is an absolute sensor; and executing a second flight control procedure according to the measured angular position around the first axis of the rotorcraft, the first flight control procedure having greater authority than the second flight control procedure. obtaining a first signal from a first sensor of a rotorcraft, the first signal indicating measured angular velocity around a first axis of the rotorcraft; filtering the first signal with a lag compensator to estimate angular position around the first axis of the rotorcraft using only the measured angular velocity around the first axis of the rotorcraft; and adjusting flight control devices of the rotorcraft according to the estimated angular position and the measured angular velocity around the first axis of the rotorcraft, thereby changing flight characteristics of the rotorcraft around the first axis of the rotorcraft, characterized in that adjusting the flight control devices of the rotorcraft comprises: executing a first flight control procedure according to the estimated angular position around the first axis of the rotorcraft, the first flight control procedure not using a measured angular position around the first axis of the rotorcraft, wherein the measured angular position around the first axis of the rotorcraft is measured with a second signal from a second sensor of the rotorcraft, wherein the first sensor is a rate sensor and the second sensor is an absolute sensor; and executing a second flight control procedure according to the measured angular position around the first axis of the rotorcraft, the first flight control procedure having greater authority than the second flight control procedure. executing a first flight control procedure according to the estimated angular position around the first axis of the rotorcraft, the first flight control procedure not using a measured angular position around the first axis of the rotorcraft, wherein the measured angular position around the first axis of the rotorcraft is measured with a second signal from a second sensor of the rotorcraft, wherein the first sensor is a rate sensor and the second sensor is an absolute sensor; and executing a second flight control procedure according to the measured angular position around the first axis of the rotorcraft, the first flight control procedure having greater authority than the second flight control procedure. <EOS>