message: More Rate work
diff: @@ -105,7 +105,7 @@ namespace hf {
  // Computes leveling PID for pitch or roll
  void computeCyclicPTerm(float demand, float eulerAngles[3], uint8_t imuAxis, uint8_t auxState)
  {
  - if (auxState == 0) {
  + if (auxState == 0) { // rate mode
  _PTerm[imuAxis] = demand;
  }
  @@ -174,7 +174,7 @@ namespace hf {
  resetIntegral();
  }
  - void updateEulerAngles(float eulerAngles[3], uint8_t auxState)
  + void simUpdate(float eulerAngles[3], uint8_t auxState)
  {
  computeCyclicPTerm(_demandRoll, eulerAngles, 0, auxState);
  computeCyclicPTerm(_demandPitch, eulerAngles, 1, auxState);
  @@ -192,7 +192,6 @@ namespace hf {
  if (throttleIsDown) {
  resetIntegral();
  }
  -
  }
  bool modifyDemands(state_t & state, demands_t & demands, float currentTime)
  