Bodyrates and cumulative thrust as input for vec_env.step

[somsomers]

Hello.

Could you please clarify how to use Flightmare with bodyrates+cumulative thrust instead of single motos thrusts?
I've created cmd_.omega matrix, disabled cmd_.thusts initialization so it runs runFlightCtl
const Vector<4> motor_thrusts_des = cmd_.isSingleRotorThrusts() ? cmd_.thrusts : runFlightCtl(sim_dt, state_.w, cmd_);

But the drone goes crazy even if I pass stable values each step, equal bodyrates and constant cumulative thrust(value range is like the one from "control_command" ROS topic, for example 0.01, 0.01, 0.01 and 9.1).

What am I doing wrong?