Fixed-Wing Attitude Controller - Turn Coordination - Example

I hope someone can help me. I am trying to understand the controller structure of the fixed wing.
Unfortunately I can’t find any explanation how exactly the “Turn Coodination” works.
Can someone help me there?

Unfortunately I have the same problem with the Throttle, Pitch, Roll and Yaw Controller. I can’t find an explanation for this either.

I am grateful for any link, formula or explanation :slight_smile:

okay for the first question i found the answer i think:

After this: with Airspeed i can use this formel right?

_rate_setpoint = tanf(constrained_roll) * cosf(ctl_data.pitch) * CONSTANTS_ONE_G / (ctl_data.airspeed