It could be usefull to change the interface of 'cntrlAttiRedIndi_lib/Multicopter (Reduced) Attitude INDI Controller'.
The inputs cmd_lean_angle_0_1, cmd_lean_direction_angle_0_2pi (lean command) could be changed to n_g_des. In 'lindiCopter_lib/LindiCopter Autopilot', n_g_des is already calculated in 'Pilot Reduced Attitude Commands' and all other blocks use n_g_des directly. Only 'Multicopter (Reduced) Attitude INDI Controller' uses the lean command instead and calculates n_g_des again in the block. Therefore we could directly use n_g_des instead.
However, it is necessary to check how this block is used in other models/libraries to ensure that this change makes sense in all cases.
It could be usefull to change the interface of 'cntrlAttiRedIndi_lib/Multicopter (Reduced) Attitude INDI Controller'.
The inputs
cmd_lean_angle_0_1,cmd_lean_direction_angle_0_2pi(lean command) could be changed ton_g_des. In 'lindiCopter_lib/LindiCopter Autopilot',n_g_desis already calculated in 'Pilot Reduced Attitude Commands' and all other blocks usen_g_desdirectly. Only 'Multicopter (Reduced) Attitude INDI Controller' uses the lean command instead and calculatesn_g_desagain in the block. Therefore we could directly usen_g_desinstead.However, it is necessary to check how this block is used in other models/libraries to ensure that this change makes sense in all cases.