Acceleration to Thrust and Attitude Setpoint Conversion

PX4 Autopilot
1

Hello Community,
I am trying to simulate a quadcopter considering the PX4 PID controller architecture.
Can you please help me with how should I generate the attitude set points from the output of the position controller?

It would be very helpful if you can point me to any research paper or other documentation.

2

Check out this documentation:

Are you trying to replicate the control logic of PX4 Multirotor in another Simulator? In that case, I recommend checking out MATLAB UAVToolbox support for PX4 as well: