The halteres of the blowfly Calliphora

@article{Nalbach2004TheHO,
  title={The halteres of the blowfly Calliphora},
  author={Gerbera Nalbach and Roland Hengstenberg},
  journal={Journal of Comparative Physiology A},
  year={2004},
  volume={175},
  pages={695-708}
}
We quantitatively analysed compensatory head reactions of flies to imposed body rotations in yaw, pitch and roll and characterized the haltere as a sense organ for maintaining equilibrium. During constant velocity rotation, the head first moves to compensate retinal slip and then attains a plateau excursion (Fig. 3). Below 500°/s, initial head velocity as well as final excursion depend linearily on stimulus velocities for all three axes. Head saccades occur rarely and are synchronous to wing… 

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...