PX4 multicopter control system

flowchart TB
 subgraph Outer loop: position control
  direction TB
        POS_SP["Position Setpoint (X, Y, Z)"] --> POS_ERR["Position Error"];
        POS_ERR --> P_pos["P-Control (Position Error → Velocity Setpoint)"];
        P_pos --> VEL_SP["Velocity Setpoint (X, Y, Z)"];
        VEL_SP --> VEL_ERR["Velocity Error"];
        VEL_ERR --> PID_vel["PID-Control (Velocity Error → Acceleration/Thrust)"];
        PID_vel --> THR_VEC["Desired Thrust Vector (Acceleration Setpoint)"];
    end
    THR_VEC --> ATT_SP["Attitude Setpoint (orientation to align with thrust vector and desired yaw)"];
    THR_VEC --> THR_CMD["Thrust Command (magnitude)"];
    subgraph Middle loop: attitude control
        direction TB
        ATT_SP --> ATT_ERR["Attitude Error"];
        ATT_ERR --> P_att["P-Control (Attitude Error → Rate Setpoint)"];
        P_att --> RATE_SP["Angular Rate Setpoint (p, q, r)"];
    end
    RATE_SP --> RATE_ERR["Rate Error"];
    RATE_ERR --> PID_rate["PID-Control (Rate Error → Torque Commands)"];
    PID_rate --> TORQUES["Body Torque Commands (roll, pitch, yaw)"];
    TORQUES --> MIXER["Mixer"];
    THR_CMD --> MIXER;
    MIXER --> MOTORS["Motor Outputs"];