Problem with PID parameters related to the normalization of forces and moments and mixer matrix

Hello, everyone!

I have a question about the PID parameters from simulation results to PX4 one. Since the PID parameters obtained through simulation is based on the forces and moments which are not normalized and the mixer matrix with physical meaning. In this case, there is a inconsistency between the PX4 and the simulation. So the PID parameters can’t be directly used to PX4. Does anyone know how to transform the simulation results to the PX4 version. I would be appreciate it if you give me help.

Thank you very much and best regards.