graph TB cab07645006a80d1["**PID controller**"] 852dc5b0a159b138["Acceleration/thrust setpoint (NED frame)"] 306580531ad6b499["Collective (total) thrust"] 98a540a8179a1b02["Body z axis vector setpoint (NED frame)"] e0c04778524a447b["Gravity vector (NED frame)"] 427ebaa6d9ba8a7c["Attitude setpoint (quaternion)"] 1ccd275411798d2d["Yaw setpoint"] 7a404e9c29775ff9["Position setpoint (NED frame)"] d1dbd1046526c994["**P controller** - Gain is 3x3 diagonal matrix - Only used when holding position or when requested velocity in an axis is null"] d71e96bce3067186["Velocity setpoint (NED frame)"] 7a404e9c29775ff9 --> d1dbd1046526c994 d1dbd1046526c994 --> d71e96bce3067186 d71e96bce3067186 --> cab07645006a80d1 cab07645006a80d1 --> 852dc5b0a159b138 e0c04778524a447b --> 852dc5b0a159b138 852dc5b0a159b138 --> |Magnitude| 306580531ad6b499 852dc5b0a159b138 --> |Unit vector| 98a540a8179a1b02 98a540a8179a1b02 --> 427ebaa6d9ba8a7c 1ccd275411798d2d --> 427ebaa6d9ba8a7c