Using Acc signal for lateral position stability?

[ctzsnooze3]

Hi

I find Level andHorizon modes great. I understand that they use the Acc signal to keep the frame level.

I notice also that Baro mode uses the Acc signal for the D component of it's PID algorithm, and that seems to me to work really well for short-term stability in the vertical plane. So obviously it is possible to use the Acc signal to detect vertical acceleration/deceleration and use this to keep stable in a vertical plane.

I was wondering if, in Horizon or Level modes, this could be used for short-term stability in the horizontal plane. In other words, use the Acc sensor signal for movements in the forward/back, or left/right directions to quickly compensate for quick horizontal drifts?

Such a technique might greatly increase short-term horizontal plane sensitivity.

I only ask because this seems to me to be the only significant area that this truly brilliant system could be meaningfully improved.

Thanks for your advice

Chris.