Altitude hold arduipilot

Hi, there i'm building a quadcopter on arduino (i use mpu 9250 ms5611). and i want to migrate the code of arduipilote "altitude hold" to arduino.

I read all the documentation in this link "http://ardupilot.org/dev/docs/". and also i downloaded all the source code of arduipilote.

but there is some points are not clear !!. i see the schema of simulink for altitude hold.

i want to know the Measured Rtae(cm/s) is it the integration of the Z acceleration, or the derivation of the barometer ???.

and in which file i can finde this simulink schema for altitude hold programmed in cpp ??.

also i see those file control_altholde.cpp Ac_PosControl.cpp but i didn't finde the function that do the altitude hold.

Please can anyone help me to find function that do the althold ??

Thanks :)

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