Modeling cascade PID in simulink


I am modeling the flight controller diagram in simulink and I want to know what is the output of the cascade p-pid loops for attitude and altitude in common flight controllers like pixhawk. Is it moment and force? Or throttle percentage or pwm or anything else?

Because I have considered moments and forces as outputs of my diagrams and as long as my multirotor is heavy and large (with a high mass and moments of inertia) my pid gains in the inner loop has become very high (about 200 - 300).

I want to know what I should consider for the output of my diagrams so that I can use the pid gains which are tuned in simulink, for the real multirotor and pixhawk.