How to calculate the Trajectory velocity setpoint in Px4 PositionControl

Hi. I’m analyzing the Px4-autopilot PositionControl.cpp

I’m wondering about where and how Trajectory calculations are performed. I’d like to know how real-timeTrajectory calculations are made with respect to real-time data. Additionally, I’m interested in how time is factored into Trajectory calculations in real-time, and I’d like to know which specific code is used for these calculations.