About the attitude control

[amilcarlucas]

Probably you are seeing the effect of the Dmod parameter.
I advise you to take a look at this other thread:

Now that I have system identification data, what do I do?

It is important to know how the data is filtered before it is stored. This will impact bare airframe identification if it is not fully understood and properly accounted for in the model identification.

There you get an updated control diagram that answers some of your questions.