graph TB ae116490ba03c5f4["**PX4 flight tasks** *src/modules/flight_mode_manager/tasks*"] 434ff88222946ffb["**PX4 navigator** *src/modules/navigator*"] cc28589a8370674b["**PX4 commander** *src/modules/commander*"] f4035bbf1402afc2["PX4 attitude control *src/modules/mc_att_control*"] 46c8ab24d8476bf8["PX4 position control *src/modules/mc_pos_control*"] 1135d777c21b2163["PX4 rate control *src/modules/mc_rate_control*"] 70d0d365670d72bf["**PX4 mixer** *src/lib/mixer/MultirotorMixer*"] 9b095293a1300801["**Motor output drivers** *src/drivers*"] a1d3c0735e5e8d7d["PX4 state estimator *src/modules/ekf2*"] 17daaa3521cd3f55["PX4 sensor hub *src/modules/sensors*"] ae726977fa3c72b0["PX4 sensor drivers *src/drivers*"] ed2e8f3ff32f61be["[Source](https://px4.io/wp-content/uploads/2020/10/PX4-Developer-Summit-2020-Overview-of-multicopter-control-from-sensors-to-motors.pdf)"] ae726977fa3c72b0 --> |sensor_gyro sensor_accel sensor_mag sensor_baro vehicle_gps_position| 17daaa3521cd3f55 17daaa3521cd3f55 --> |vehicle_angular_velocity vehicle_acceleration sensor_combined vehicle_imu vehicle_magnetometer| a1d3c0735e5e8d7d a1d3c0735e5e8d7d --> |vehicle_attitude vehicle_local_position vehicle_global_position| 46c8ab24d8476bf8 cc28589a8370674b --> |vehicle_status| 434ff88222946ffb 434ff88222946ffb --> |position_setpoint_triplet| ae116490ba03c5f4 ae116490ba03c5f4 --> |trajectory_setpoint| 46c8ab24d8476bf8 46c8ab24d8476bf8 --> |vehicle_attitude_setpoint| f4035bbf1402afc2 f4035bbf1402afc2 --> |vehicle_rates_setpoint| 1135d777c21b2163 1135d777c21b2163 --> |actuator_controls| 70d0d365670d72bf 70d0d365670d72bf --> |actuator_outputs| 9b095293a1300801 %% Node links click f4035bbf1402afc2 href "/knowledge/PX4-attitude-control-flowchart" "PX4 attitude control flowchart" click 46c8ab24d8476bf8 href "/knowledge/PX4-position-control-flowchart" "PX4 position control flowchart" click 1135d777c21b2163 href "/knowledge/PX4-rate-control-flowchart" "PX4 rate control flowchart" click 70d0d365670d72bf href "/knowledge/PX4-mixer-code-flowchart" "PX4 mixer code flowchart" click a1d3c0735e5e8d7d href "/knowledge/PX4-EKF2-flowchart" "PX4 EKF2 flowchart" click 17daaa3521cd3f55 href "/knowledge/PX4-sensor-hub" "PX4 sensor hub" click ae726977fa3c72b0 href "/knowledge/PX4-sensor-drivers" "PX4 sensor drivers"