digraph G {
rankdir="LR"
"Roll PID"[shape=record
label="<f0>Roll PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=15.000] |<f5> [Ki=0.000] |<f6> [Kd=0.200] |<f7> [alpha=0.000]"]
"Roll" -> "Roll PID":f1 [label="Constant"]
"Y Vel PID" -> "Roll PID":f2 [label="Correction"]
"Ts_IMU" -> "Roll PID":f3 [label="Constant"]
"Pitch PID"[shape=record
label="<f0>Pitch PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=15.000] |<f5> [Ki=0.000] |<f6> [Kd=0.200] |<f7> [alpha=0.000]"]
"Pitch trim add" -> "Pitch PID":f1 [label="Sum"]
"X Vel PID" -> "Pitch PID":f2 [label="Correction"]
"Ts_IMU" -> "Pitch PID":f3 [label="Constant"]
"Yaw PID"[shape=record
label="<f0>Yaw PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=2.600] |<f5> [Ki=0.000] |<f6> [Kd=0.000] |<f7> [alpha=0.000]"]
"Yaw" -> "Yaw PID":f1 [label="Constant"]
"Yaw Setpoint" -> "Yaw PID":f2 [label="Constant"]
"Ts_VRPN" -> "Yaw PID":f3 [label="Constant"]
"Roll Rate PID"[shape=record
label="<f0>Roll Rate PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=4600.000] |<f5> [Ki=0.000] |<f6> [Kd=550.000] |<f7> [alpha=0.000]"]
"dPhi" -> "Roll Rate PID":f1 [label="Constant"]
"Roll PID" -> "Roll Rate PID":f2 [label="Correction"]
"Ts_IMU" -> "Roll Rate PID":f3 [label="Constant"]
"Pitch Rate PID"[shape=record
label="<f0>Pitch Rate PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=4600.000] |<f5> [Ki=0.000] |<f6> [Kd=550.000] |<f7> [alpha=0.000]"]
"dTheta" -> "Pitch Rate PID":f1 [label="Constant"]
"Pitch PID" -> "Pitch Rate PID":f2 [label="Correction"]
"Ts_IMU" -> "Pitch Rate PID":f3 [label="Constant"]
"Yaw Rate PID"[shape=record
label="<f0>Yaw Rate PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=29700.000] |<f5> [Ki=0.000] |<f6> [Kd=0.000] |<f7> [alpha=0.000]"]
"dPsi" -> "Yaw Rate PID":f1 [label="Constant"]
"Yaw PID" -> "Yaw Rate PID":f2 [label="Correction"]
"Ts_IMU" -> "Yaw Rate PID":f3 [label="Constant"]
"X pos PID"[shape=record
label="<f0>X pos PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=-0.015] |<f5> [Ki=-0.005] |<f6> [Kd=-0.030] |<f7> [alpha=0.000]"]
"VRPN X" -> "X pos PID":f1 [label="Constant"]
"X Setpoint" -> "X pos PID":f2 [label="Constant"]
"Ts_VRPN" -> "X pos PID":f3 [label="Constant"]
"Y pos PID"[shape=record
label="<f0>Y pos PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.015] |<f5> [Ki=0.005] |<f6> [Kd=0.030] |<f7> [alpha=0.000]"]
"VRPN Y" -> "Y pos PID":f1 [label="Constant"]
"Y Setpoint" -> "Y pos PID":f2 [label="Constant"]
"Ts_VRPN" -> "Y pos PID":f3 [label="Constant"]
"Altitude PID"[shape=record
label="<f0>Altitude PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=9804.000] |<f5> [Ki=817.000] |<f6> [Kd=7353.000] |<f7> [alpha=0.000]"]
"VRPN Alt" -> "Altitude PID":f1 [label="Constant"]
"Alt Setpoint" -> "Altitude PID":f2 [label="Constant"]
"Ts_VRPN" -> "Altitude PID":f3 [label="Constant"]
"X Setpoint"[shape=record
label="<f0>X Setpoint  |<f1> [Constant=0.000]"]
"Y Setpoint"[shape=record
label="<f0>Y Setpoint  |<f1> [Constant=0.000]"]
"Alt Setpoint"[shape=record
label="<f0>Alt Setpoint  |<f1> [Constant=0.000]"]
"Yaw Setpoint"[shape=record
label="<f0>Yaw Setpoint  |<f1> [Constant=0.000]"]
"Throttle trim"[shape=record
label="<f0>Throttle trim  |<f1> [Constant=0.000]"]
"T trim add"[shape=record
label="<f0>T trim add  |<f1> --\>Summand 1 |<f2> --\>Summand 2"]
"Altitude PID" -> "T trim add":f1 [label="Correction"]
"Throttle trim" -> "T trim add":f2 [label="Constant"]
"Pitch"[shape=record
label="<f0>Pitch  |<f1> [Constant=0.000]"]
"Roll"[shape=record
label="<f0>Roll  |<f1> [Constant=0.000]"]
"Yaw"[shape=record
label="<f0>Yaw  |<f1> [Constant=0.000]"]
"Pitch trim"[shape=record
label="<f0>Pitch trim  |<f1> [Constant=0.020]"]
"Pitch trim add"[shape=record
label="<f0>Pitch trim add  |<f1> --\>Summand 1 |<f2> --\>Summand 2"]
"Pitch trim" -> "Pitch trim add":f1 [label="Constant"]
"Pitch" -> "Pitch trim add":f2 [label="Constant"]
"dTheta"[shape=record
label="<f0>dTheta  |<f1> [Constant=0.000]"]
"dPhi"[shape=record
label="<f0>dPhi  |<f1> [Constant=0.000]"]
"dPsi"[shape=record
label="<f0>dPsi  |<f1> [Constant=0.000]"]
"P PWM Clamp"[shape=record
label="<f0>P PWM Clamp  |<f1> --\>Bounds in |<f2> [Min=-20000.000] |<f3> [Max=20000.000]"]
"Pitch Rate PID" -> "P PWM Clamp":f1 [label="Correction"]
"R PWM Clamp"[shape=record
label="<f0>R PWM Clamp  |<f1> --\>Bounds in |<f2> [Min=-20000.000] |<f3> [Max=20000.000]"]
"Roll Rate PID" -> "R PWM Clamp":f1 [label="Correction"]
"Y PWM Clamp"[shape=record
label="<f0>Y PWM Clamp  |<f1> --\>Bounds in |<f2> [Min=-20000.000] |<f3> [Max=20000.000]"]
"Yaw Rate PID" -> "Y PWM Clamp":f1 [label="Correction"]
"VRPN X"[shape=record
label="<f0>VRPN X  |<f1> [Constant=0.000]"]
"VRPN Y"[shape=record
label="<f0>VRPN Y  |<f1> [Constant=0.000]"]
"VRPN Alt"[shape=record
label="<f0>VRPN Alt  |<f1> [Constant=0.000]"]
"VRPN Pitch"[shape=record
label="<f0>VRPN Pitch  |<f1> [Constant=0.000]"]
"VRPN Roll"[shape=record
label="<f0>VRPN Roll  |<f1> [Constant=0.000]"]
"RC Pitch"[shape=record
label="<f0>RC Pitch  |<f1> [Constant=0.000]"]
"RC Roll"[shape=record
label="<f0>RC Roll  |<f1> [Constant=0.000]"]
"RC Yaw"[shape=record
label="<f0>RC Yaw  |<f1> [Constant=0.000]"]
"RC Throttle"[shape=record
label="<f0>RC Throttle  |<f1> [Constant=0.000]"]
"Signal Mixer"[shape=record
label="<f0>Signal Mixer  |<f1> --\>Throttle |<f2> --\>Pitch |<f3> --\>Roll |<f4> --\>Yaw"]
"T trim add" -> "Signal Mixer":f1 [label="Sum"]
"P PWM Clamp" -> "Signal Mixer":f2 [label="Bounded"]
"R PWM Clamp" -> "Signal Mixer":f3 [label="Bounded"]
"Y PWM Clamp" -> "Signal Mixer":f4 [label="Bounded"]
"Ts_IMU"[shape=record
label="<f0>Ts_IMU  |<f1> [Constant=0.005]"]
"Ts_VRPN"[shape=record
label="<f0>Ts_VRPN  |<f1> [Constant=0.040]"]
"zero"[shape=record
label="<f0>zero  |<f1> [Constant=0.000]"]
"X Vel PID"[shape=record
label="<f0>X Vel PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.000] |<f5> [Ki=0.000] |<f6> [Kd=0.000] |<f7> [alpha=0.000]"]
"X Vel" -> "X Vel PID":f1 [label="Correction"]
"X Vel Clamp" -> "X Vel PID":f2 [label="Bounded"]
"Ts_VRPN" -> "X Vel PID":f3 [label="Constant"]
"Y Vel PID"[shape=record
label="<f0>Y Vel PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.000] |<f5> [Ki=0.000] |<f6> [Kd=0.000] |<f7> [alpha=0.000]"]
"Y Vel" -> "Y Vel PID":f1 [label="Correction"]
"Y vel Clamp" -> "Y Vel PID":f2 [label="Bounded"]
"Ts_VRPN" -> "Y Vel PID":f3 [label="Constant"]
"X Vel"[shape=record
label="<f0>X Vel  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.000] |<f5> [Ki=0.000] |<f6> [Kd=1.000] |<f7> [alpha=0.000]"]
"VRPN X" -> "X Vel":f1 [label="Constant"]
"zero" -> "X Vel":f2 [label="Constant"]
"Ts_VRPN" -> "X Vel":f3 [label="Constant"]
"Y Vel"[shape=record
label="<f0>Y Vel  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.000] |<f5> [Ki=0.000] |<f6> [Kd=1.000] |<f7> [alpha=0.000]"]
"VRPN Y" -> "Y Vel":f1 [label="Constant"]
"zero" -> "Y Vel":f2 [label="Constant"]
"Ts_VRPN" -> "Y Vel":f3 [label="Constant"]
"X Vel Clamp"[shape=record
label="<f0>X Vel Clamp  |<f1> --\>Bounds in |<f2> [Min=-2.000] |<f3> [Max=2.000]"]
"X pos PID" -> "X Vel Clamp":f1 [label="Correction"]
"Y vel Clamp"[shape=record
label="<f0>Y vel Clamp  |<f1> --\>Bounds in |<f2> [Min=-2.000] |<f3> [Max=2.000]"]
"Y pos PID" -> "Y vel Clamp":f1 [label="Correction"]
"X Stick Gain"[shape=record
label="<f0>X Stick Gain  |<f1> --\>Input |<f2> [Gain=5.000]"]
"Y Stick Gain"[shape=record
label="<f0>Y Stick Gain  |<f1> --\>Input |<f2> [Gain=-5.000]"]
}