I have a question about the controller diagram of VTOL UAV. As you know the PX4 user guide provide most of the controller diagram of the VTOL flight controller excluding the detailed controller diagram of the part of the VTOL attitude controller which may be composed of the swich or blending of the MC controller and FW controller. So what is the specific logic of this part? It seems the user guide dosen’t mention this in detail. If you guys know about this, please give your opinion.