For my Bachelor thesis I am trying to model the JDrones hexa in MATLAB/Simulink. So far I finished modelling the multirotor itself. Now I would like to model the controller. And here my question arose: How does Arducopter calculate the angular speed of each single rotor from the output of the four PIDs (thrust, roll, pitch, yaw)? There are several different ways to do that, thought I am interested how Ardupilot does it to get a model close to reality. I had already a look into the code, but was not able to find hints so far.
You can find a PDF attached which provides you more information about the problem and the modelling.
Thanks for any help or hints!