That sounds reasonable but then again I am no expert on multicopters and their flight characteristics. I can imagine that a lot of effort goes into making the FBL systems robust enough to handle the many different model helicopters on the market. Well I appreciate the effort you are putting into looking at my notch implementation. As I said before, this may not be the best implementation because it is on the error and not on the gyro. But at the time it was the quickest way for me to get it into the code.
I think there is merit to the mechanics and set up of servo throw but I feel that the same issues have to be addressed on the FBL side to keep their systems robust for most helicopters.