graph TB 8a705a1a1e4aa749["RPM sensor (DT)"] 25456e22486ed79a["Reference trajectory (DT)"] 07a331a2aa71c9d4["6 DOF rigid body dynamics (CT)"] 7cab27a0d3555dcc["Prop aerodynamics (CT)"] 96799b9a8ee7fdb9["Atmospheric model"] 7f8b0d9c11685933["Sensors (DT)"] d0e553af158ad41a["State estimator (DT)"] 5020d1e64cacf543["Control system (DT)"] 87beb498cbf7de7b["Motor dynamics (CT)"] 87beb498cbf7de7b --> |prop angular rates| 7cab27a0d3555dcc 96799b9a8ee7fdb9 --> |air density| 7cab27a0d3555dcc 07a331a2aa71c9d4 --> |position| 96799b9a8ee7fdb9 7cab27a0d3555dcc --> |total force, total torque| 07a331a2aa71c9d4 07a331a2aa71c9d4 --> |states| 7f8b0d9c11685933 7f8b0d9c11685933 --> |sensor readings| d0e553af158ad41a d0e553af158ad41a --> |state estimate| 5020d1e64cacf543 87beb498cbf7de7b --> |prop angular rates| 8a705a1a1e4aa749 25456e22486ed79a --> |reference state| 5020d1e64cacf543 8a705a1a1e4aa749 --> |measured prop angular rates| 5020d1e64cacf543 5020d1e64cacf543 --> |reference prop angular rates| 87beb498cbf7de7b