Hey, Don't make fun of gimbal lock, Typically it occurs when the X axis an Z axis gimbal angle delta appoaches or equals zero. At that point, attitude correction beomes impossible because the contoller input as far as the gyro is concerned is only effecting rotation about the Y axis. But of course, in CL we only have rotation about the Y axis, gimbal lock does not apply as the state it represents is the normal mode of operation. I don't believe I know this, but once you have experienced gimbal lock first hand you can never forget it.