Jaeyoung thank you for your response!
I guess you are correct, but I still don’t understand if thrust setpoint has anything to do with thrust (force).
Also, if I understood correctly, PWM output comes directly from the mixer in PX4 (tell me if this is wrong). However, almost every paper I read about motor mixing maps roll/pitch/yaw torque + total thrust with either individual thrust of motors or the square of motor velocity, not PWM output. So, how does PX4 still work so well?
Sorry if that was off-topic, but help me out with my confusion please
Thank you,
Kangmin