I am looking into Arduplane Mode, and I noticed one mode might be missing: Manual&Filtered.
Several product exist to stabilize RC planes suche as the FY30A RC Gyro. I think it should be "just" a PID filter between inputs and outputs for Roll&Pitch.
Is it on schedule to implement such a feature?
We're rolling in stabilize/test modes already... FBW A is the most useful for general-purpose use. You might want to try that one.