TauLabs/TauLabs — pull request #1030 by peabody124 (2013-12-06 19:36:34+00:00)
Title: Horizon mode

This implements a new control mode for each axis - horizon mode -
based on MultiWii which transitions from attitude to rate mode as you
move the sticks.

Link for full writeup and testing: http://buildandcrash.blogspot.com/2013/11/taulabs-gets-multiwii-horizon-mode.html