It could be usefull to change the interface of 'cntrlAttiRedIndi_lib/Multicopter (Reduced) Attitude INDI Controller'.

The inputs cmd_lean_angle_0_1, cmd_lean_direction_angle_0_2pi (lean command) could be changed to n_g_des. In 'lindiCopter_lib/LindiCopter Autopilot', n_g_des is already calculated in 'Pilot Reduced Attitude Commands' and all other blocks use n_g_des directly. Only 'Multicopter (Reduced) Attitude INDI Controller' uses the lean command instead and calculates n_g_des again in the block. Therefore we could directly use n_g_des instead.

However, it is necessary to check how this block is used in other models/libraries to ensure that this change makes sense in all cases.