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Modeling visual-based pitch, lift and speed control strategies in hoverflies
Fig 7
Block diagram of the improved model including a flapping wing force feedback control based on the vertical optic flow (green) and a pitch rate closed-loop control based on the absolute pitch measurement (purple).
(A) Diagram of the model including a feed-back control loop based on ωZRfly accounting for the force produced by flapping wings and a feed-back control loop based on θp accounting for the control of 
. (B) Averaged (large solid line) and 10 samples (thin solid line) height measured during 150 simulations of free fall conducted with the new model. Model simulations results are presented in color (wingbeat triggering time of 75-100ms are shown in green, 100-125ms in blue and 125-150ms in red) and experimental data appears in grey. Inset shows the percentage of cumulated crash during 150 model simulations lasting 3 seconds. (C) Averaged heave (top panel) and surge speed (bottom panel) measured during the 150 simulations of free fall conducted with the new model. Model simulations are presented in dotted lines and experimental data in solid lines. Results are split in the three wingbeat initiation groups: 75-100ms are shown in green, 100-125ms in blue and 125-150ms in red. 
doi: https://doi.org/10.1371/journal.pcbi.1005894.g007