Quadcopter Project Simulation Thrust vector problems

Hi guys,

at the moment I'm working on the quadcopter project you can open with 'asbQuadcopterStart'. It is important for my bachelorthesis and drives me crazy somehow. What I want to do is to use this simulation, to simulate a software which I want to implement later on a real quadcopter. Therefore I have to unterstand the simulation. As there are no real manuals to read except the one for the basics by mathworks I hope someone is kind of a pro with the Quadcopter Project. At first I just need to get control about the quadcopter. I changed the variants.command to 2 to use pre-saved data.

(Picture 1)

On the left site of Picture 1 you can see my code to give command to the quadcopter.

(Picture 2)

In picture 2 you can see that I changed the way of the throttle_cmd to give commands to the quadcopter and not to depend on the sensors. As you can see in picture 1 I gave no command at all, but the motor torque and thrust still worked and the quadcopter went up. My question now is where does this vector comes from?

If I give in at first a positive value followed by a negative value it goes up and down, but as soon as the negative command stops, it goes right up again.

I hope someone had the same problem or works on the project at the moment and can help me.

Greetings Tristan