For those of you flying Tau Labs or just looking to re-invigorate a CC3D and get some more fun, we implemented a "Horizon mode" based on the MultiWii code. What this does is when you keep the sticks near the middle, it will be in attitude mode (self leveling) and as you move the sticks further out it transitions into a rate mode. This is really fun for FPV because you have the ability to flips and more aggressive maneuvers while having the safety of a self leveling mode. I think the video above from Oso shows it off best.
If you want to try it out, here are the builds: