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i'd like to suggest some things if you want to improve your HUD.
first, you could get FPM data through GPS and altimeter to save on inputs and increase precision. i can provide an example if you need one.
second, have you considered bruteforcing the CCIP with a loop? this makes accounting for drag trivial.
third, did you know that using a topward tilt sensor with atan2(front*tau,top*tau) can fix the roll?
best regards, Neottious