Acceleration to Thrust and Attitude Setpoint Conversion

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.

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: