How the att_module controls the rotors?

PX4 Autopilot
1

Hi,
I am reading the code of px4, and I came across one problem.

In RELATIVE:/Firmware/src/modules/mc_att_control/mc_att_control_main.cpp, a function named “publish_actuator_controls()” publishes a uorb msg (in actuator_controls.h). But then which module gets it and translates it to mixers and rotors?

I found in RELATIVE:/Firmware/src/modules/px4iofirmware/mixer.cpp , that actuator_controls.h was included again. But there is no uorb subscribe. And on uorb graph, it seems that mc_att_control gave messages to actuator_controls_0, which I also didn’t find.

In a word, I want to know how the control module controls the rotors.

Thanks!