Key Phrases - Statistically Improbable Phrases (SIPs):  (learn more)
restart protection, space sextant, digital autopilot, landing radar, 
program alarms, rendezvous radar, reaction thrusters, scanning telescope, 
braking phase, inertial platform, descent engine, human spaceflight, 
powered descent, erasable memory, pilot opinion, gimbal lock, 
descent stage, abort button, flying qualities, guidance computer
Key Phrases - Capitalized Phrases (CAPs): (learn more)
Neil Armstrong, North American, World War, Age of Systems, 
Chris Kraft, David Scott, Jack Garman, Space Task Group, Michael Collins, 
Scott Crossfield, Robert Chilton, Project Apollo, Edwards Air Force Base, 
Joe Shea, Aaron Cohen, Alan Shepard, Don Eyles, Draper Laboratories, 
Floyd Bennett, Eldon Hall, Charlie Duke, Mission Control, Deke Slayton, 
United States, Mercury Seven

• via http://docs.google.com/View?id=ddjmqgw3_43gm6gvggf
• http://www.google.com/#hl=en&source=hp&q=pid+kalman&aq=f&aqi=&oq=&fp=7d15299a959dbb33

Roll Rate

File: In sw/airborne/fw_h_ctl.c we define the roll rate loop:

float cmd = throttle_dep_pgain * ( err + h_ctl_roll_rate_igain * roll_rate_sum_err / H_CTL_ROLL_RATE_SUM_NB_SAMPLES + h_ctl_roll_rate_dgain * d_err);

Note that the roll Pgain is variable with throttle and multiplies through the entire equation affecting the I and D terms as well for ease of tuning.