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According to the paper the quaternion controller is built on the yaw weight represents the ratio between the roll/pitch and the yaw attitude control time constant. It also states that as a thumb rule a value of ~0.4 works alright for most multicopter platforms. The default attitude gains of PX4 which were determined independent of the paper from experimental results have a ratio of 2.8/6.5 = 0.43 which matches.