Normalization of output

Hi, everyone.

actuator control require normalization:
0: roll (-1…1)
1: pitch (-1…1)
2: yaw (-1…1)
3: throttle (0…1 normal range, -1…1 for variable pitch / thrust reversers)

But I can’t find where to normalize in MulticopterRateControl.cpp.
If you know , please tell me. Thanks !