RCCommand and angular rates units in PID

[Entropia]

Hi all,
I'm a little bit lost in all the code, I'm trying to define a custome controller and would like to use the existent code with modifications. I don't understand the units (and ranges) of the angles/angular rates measurement, as well as the RC command and the servo output.
Apologies for the stupid question,
Thank you!
Michele

[Alexinparis]

angular rates
Most sensors are set to their 2000deg/s
The spec of each sensor indicates the relation between LSB and deg/s and multiwii skips the last 2 bytes. That's what you get in the communication between FC and GUI.

RC command:
in the code
// interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW

servo output: something between [1000;2000] or a little more if hardware and servo stretch is used

[Entropia]

Thanks a lot Alex, sorry for being a noob!