Hi, guys. Thanks for comments.
Currently, I'm trying to modify mc_att_control_main.cpp and mc_pos_control_main.cpp.
I read those pages but still not sure about thrust and torque.
As Jaeyoung said, it would be okay to normalize thrust but the problem is torque.
Can you tell me the relationship between attcontrol and torque?
Or is it okay to use normalized torque as attcontrol?