This page provides an overview of the ROS API for starmac_flyer -- primarily in terms of Nodes and Topics at the 'computation graph' level of abstraction.

Here is a diagram showing the most important nodes and topics involved in operating an Ascending Technologies Pelican vehicle using the starmac_flyer and related packages. The diagram highlights the topics actively used when the active control mode is 'attitude'. Other modes that are in standby still receive data and produce output but the mux node only outputs the active mode.