Hardware in the loop Quadrotor

[mehr]

hello
i want to build a Hardware in the loop Quadrotor for test my control algoritm on a quadrotor.
i use Arduino mega2560 board with mpu6050 , Hmc5883 , bmp085 sensors and 4 blcd motor.
so i need to read sensors first and then calculate error with set point and then change 4 pwm channel.

i have just read sensors.

and my block diagram

i have connect driver motors  to board >> oc3b=motor1     oc3c=motor2     oc3a=motor3     oc4b=motor4

how can i use pwm block in lifa library?how can i caliibrate and change my sensors data to real data  (for example range of  0-360 for roll pitch yaw)?
im new to arduino and quadrotor and also lifa library please help me.
thanks.

[mehr]

now my pwm works good. i have reslove it
and now kalman filter...