I'm thinking about how a quadcopter flight controller works, and I usually see that each motor speed is determined by a formula like:
speed_motor_1 = throttle + pitch_pid + roll_pid + yaw_pid
This looks fine, but one thing I was considering is
throttle -> thrust is not so straightforward.
For instance, a quadcopter in horizontal position have propellers pointing up and the thrust may be X. If you pitch this quadcopter by 30 degrees, now the propellers vector force is inclined and thrust it is X*cos(30 degrees)
Does that make sense? Is that something that must be taking into consideration when calculating "throttle" in the aforementioned formula?