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== Nodes ==
There are several nodes (actually implemented as nodelets) that together perform the task of high-level control. 'High level' in this context means that input is generally a state estimate, plus (optionally) user inputs from a joystick, and the output is commanded pitch, roll, yaw or yaw rate, and altitude. Other nodes, which will differ depending on the particular vehicle in use, process these outputs according to the needs of the specific hardware in question (see, e.g., [[starmac_robots_asctec]]).

ROS API documentation for nodes in this package:

 * [[flyer_controller/controller|controller]] Controller manager
 * [[flyer_controller/teleop_flyer|teleop_flyer]]
 * [[flyer_controller/control_modes|Control Modes]] Individual control modes



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