About controlling each motors of multicopter

Hi, I’m beginner to PX4 autopilot.

I’m trying to find a way to control each motor of the multicopter.

But, currently, all I could find is controlling the multicopter through changing velocity.

So, I’d like to ask if there’s a way to control each motor.


+I apologies if I wrote in the wrong category. I wasn’t rly sure about which category to write this question in.