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GPS
IMU
Baro
Airspeed
Sonar
publish / subscribe
INS
AHRS
State Interface
AP
Scheduler
Nav
Guidance
Stabilization
Flight
Plan
xml
Modules
Module
xml
Datalink
Telemetry
Periodic
Telemetry
and
Settings
xml
Servos
& Actuators
Electrical /
Battery
monitoring
Safety
Remote
Control
Radio
xml
memory / serial
Airframe
xml
AP process
FBW process (on dual-MCU systems)