graph TB e87f027d23e22163["Body angular rate setpoint (roll, pitch, yaw rates)"] 9369f052ea11ab02["Torque setpoints about the body axes"] a36a915f8776a9b7["Integrator windup protection"] 81544ffe8fd0d540["Axis saturations"] f1e1016c7a833bc6["Mixer"] f8a7345826660b31["**PID controller** - Inner loop (fast: ~250-400 Hz)"] e87f027d23e22163 --> f8a7345826660b31 f8a7345826660b31 --> 9369f052ea11ab02 81544ffe8fd0d540 --> a36a915f8776a9b7 a36a915f8776a9b7 --> f8a7345826660b31 f1e1016c7a833bc6 --> 81544ffe8fd0d540