Exercise: Insect flight control modeling

Consider the following block diagram of the flight control system of a fly:

Using the paper Vision as a Compensatory Mechanism for Disturbance Rejection in Upwind Flight by Reiser et al., identify the state, input, outputs, and dynamics for each block in the diagram. You may give you answer in words, but be precise as possible. (Hint: not all of the blocks are “dynamic”; some are static maps.)