Attitudechanged values and pcmd values

How to convert radian values from messages.ardrone3.PilotingState.AttitudeChanged to percentage values for drone.piloting_pcmd? Is +3.14 from attitude relative to +100 in pcmd input?

3.14 is the angle (pitch, roll, yaw) output data you get from the sensor, and you can convert it to degrees by multiplying by 180/pi.
[-100 100] is the percentage of the maximum input command