Position and attitud controllers diagram

PX4 Autopilot
4

I really think that angle rate signal is used for derivative component of PID.
Here there is a section of the mc_att_control_main.cpp code where I believe PID is implemented :

/* angular rates error */
math::Vector<3> rates_err = _rates_sp - rates;

_att_control = rates_p_scaled.emult(rates_err) +
	       _rates_int +
	       rates_d_scaled.emult(_rates_prev - rates) / dt +
	       _params.rate_ff.emult(_rates_sp);

_rates_sp_prev = _rates_sp;
_rates_prev = rates;