"Thank you again for response! 

I am talking about first controller =  earth frame controller. On the left side of your PID diagram, this side is the same as by stabilize mode,except some constants according your…"

"Thank you for response.  So what you say, is that there is no difference if this earth frame controller is compensating yaw, pitch, roll according to earth frame or body frame?
When I think about it just like angles,just like numbers. The values are…"

"Hi guys! I would love to understand the earth frame controller. There is still one thing which I can not understand properly. 
I checked code and also all documentation which I could find. There is written  for earth frame controller that they use…"

"Hi guys! I would love to understand the earth frame controller. There is still one thing which I can not understand properly. 
I checked code and also all documentation which I could find. There is written  for earth frame controller that they use…"