multiwii detailed control loop

[jozsef.petenyi]

Hi guys!

Is there any documentation, or source where I can find the detailed pid control algorithm of the orientation of the quad?
I tried to find a documentation, but I couldnt, after that I wanted to reverse engineering the source code, but it is too complicated.

Thanks for the help!

[MGeo]

See the attached:

[jozsef.petenyi]

Thank you for your reply,

I've seen this figure, but I think it isn't correct, and if it is, it is just the attitude mode. And on the other hand plant is missing from the loop, so what are they integrating?