A longstanding goal of systems neuroscience is to quantitatively describe how the brain integrates sensory cues over time. Here we develop a closed-loop orienting paradigm in Drosophila to study the algorithms by which cues from two modalities are integrated during ongoing behavior. We find that flies exhibit two behaviors when presented simultaneously with an attractive visual stripe and aversive wind cue. First, flies perform a turn sequence where they initially turn away from the wind...