simple_flight dynamics question! calculating propeller speed

[HelloEgg]

Hello. I am attempting to control the drone with roll,pitch and yaw.

I am using python command, moveByAngleThrottleAsync

I wonder how the roll, pitch, throttle and yaw commands control the propeller speed.

Currently, I am trying to verify the drone movement (position and orientation) according to drone inputs.

I tried reviewing simple_flight code (firmware/OffboardApi, SimpleFlightApi.hpp etc.), however,

I had trouble understanding how the high level commands roll pitch and yaw is controlling each propeller speed.

Also, I referred Airsim paper (https://arxiv.org/pdf/1705.05065.pdf) to calculate

velocity, acceleration and position. Is there any other material I should refer too?

Below is how I understood the drone movement so far :

Thank you!