Contro Diagram for Arducopter

Hello,

I want to create an autonomous control design for a collective pitch helicopter. Does anyone know what is the control diagram of arducopter?, so I can see all the PID loops working in the system and modify them.

I found this thread with a control diagram:

diydrones.com/profiles/blogs/ard … d-alt-hold

But I don’t know if it has changed or not.

Thanks for you help.

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