graph TB f492da2974998401["Attitude setpoint (quaternion)"] 74b5a1888b4ae285["Attitude error (quaternion)"] a09b98c0f4998502["Small-angle rotation vector from current to desired attitude"] 85e79aa90314fcb4["**P controller**"] 1bb857fd05182644["Body angular rate setpoint (roll, pitch, yaw rates)"] 5bcbaa04e5f2b004["Feedforward yaw rate"] 6ba1434a747403dc["Attitude estimate (quaternion)"] f492da2974998401 --> 74b5a1888b4ae285 6ba1434a747403dc --> 74b5a1888b4ae285 74b5a1888b4ae285 --> a09b98c0f4998502 a09b98c0f4998502 --> 85e79aa90314fcb4 85e79aa90314fcb4 --> 1bb857fd05182644 5bcbaa04e5f2b004 --> 1bb857fd05182644