Control diagram for tailsitter VTOL

@joihn wrote:

I’m looking for the control model of the tailsitter VTOL mode (from arduPlane branch)

So far I have found:

• Control diagram of arducopter
  https://ardupilot.org/dev/docs/apmcopter-programming-attitude-control-2.html
• Control code of tailsitter VTOL on github:
  https://github.com/ArduPilot/ardupilot/blob/master/ArduPlane/tailsitter.cpp

Does anyone have explanations or diagram of the control model for VTOL tailsitter ?
One could probably reverse engineer it from the code but I’m not competent enough for that.

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