Hi, dear colleges.
My name is Robin and I am doing my PhD on UAVs in France. I build my drones with raspberry Pi and pixhawks.
In terms of control a drone in the perspective of dynamics, the control inputs should be thrust force and torques, or angular velocity velocity of each motor (as there is a constant linear matrix between those two).
I found there are some discussion on this like
Thrust to throttle in /mavros/setpoint_raw/attitude
Control multicopter via thrust F and moments M
We are still trying to find a solution. If you are interested in this, let us work on that together.