An update with what I have found digging in the code:
– The control input ‘motor_pos_rot’ actually gives the float angular position (the relative pitch displacement to be more precise)
– The control input ‘float_accel_rot’ is not the float pitch acceleration. There is an conversion step in block ‘lin2rot conversion’ block, which is unnecessary as its input ‘float_accel’ is already the angular acceleration float. In my opinion, this is a bug which should be corrected.
Could you please confirm/infirm?