Quadcopter, where did this two gains come from in the attached image?

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mr central
mr central on 11 Jan 2017
where did this two gains come from in "PITCH_and_ROLL_CONT" in the attached image?
In the following lecture for Bradley Horton: Modelling, Simulation, and Control of a Quadcopter
https://www.mathworks.com/videos/modelling-simulation-and-control-of-a-quadcopter-122872.html

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