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<!-- Title: G Pages: 1 -->
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<title>G</title>
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<!-- MAVLinkBackend -->
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<title>MAVLinkBackend</title>
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<text text-anchor="start" x="382.9854" y="-760.4" font-family="Times,serif" font-size="14.00" fill="#000000">vehicle: MultiRotor</text>
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<text text-anchor="start" x="333.8062" y="-734.4" font-family="Times,serif" font-size="14.00" fill="#000000">load_vehicle(): initializes MultiRotor</text>
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<text text-anchor="start" x="345.485" y="-708.4" font-family="Times,serif" font-size="14.00" fill="#000000">connect(): establishes connection</text>
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<text text-anchor="start" x="258.5835" y="-682.4" font-family="Times,serif" font-size="14.00" fill="#000000">send_mavlink_message(mav_message): sends mavlink message</text>
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<text text-anchor="start" x="350.5376" y="-656.4" font-family="Times,serif" font-size="14.00" fill="#000000">disconnect(): closes connection</text>
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<text text-anchor="start" x="353.4573" y="-630.4" font-family="Times,serif" font-size="14.00" fill="#000000">update(): updates vehicle state</text>
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<text text-anchor="start" x="299.0309" y="-604.4" font-family="Times,serif" font-size="14.00" fill="#000000">update_sensor(sensor, value): updates sensor data</text>
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<text text-anchor="start" x="324.3023" y="-578.4" font-family="Times,serif" font-size="14.00" fill="#000000">update_state(state): updates vehicle state</text>
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<!-- MultiRotor -->
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<title>MultiRotor</title>
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<text text-anchor="start" x="406.8932" y="-385.4" font-family="Times,serif" font-weight="bold" font-size="14.00" fill="#000000">MultiRotor</text>
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<text text-anchor="start" x="357.3374" y="-358.4" font-family="Times,serif" font-size="14.00" fill="#000000">backend: MAVLinkBackend</text>
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<text text-anchor="start" x="336.7357" y="-332.4" font-family="Times,serif" font-size="14.00" fill="#000000">thrust_curve: QuadraticThrustCurve</text>
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<text text-anchor="start" x="263.4436" y="-306.4" font-family="Times,serif" font-size="14.00" fill="#000000">set_controls(controls, dt): sets control values and updates state</text>
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<text text-anchor="start" x="312.2581" y="-280.4" font-family="Times,serif" font-size="14.00" fill="#000000">get_state(): returns the vehicle's current state</text>
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<!-- MAVLinkBackend&#45;&gt;MultiRotor -->
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<title>MAVLinkBackend-&gt;MultiRotor</title>
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<text text-anchor="middle" x="79.1738" y="-489" font-family="Helvetica,sans-Serif" font-size="10.00" fill="#0000ff">load_vehicle()</text>
<text text-anchor="middle" x="79.1738" y="-477" font-family="Helvetica,sans-Serif" font-size="10.00" fill="#0000ff">calls MultiRotor constructor</text>
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<!-- MAVLinkBackend&#45;&gt;MultiRotor -->
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<title>MAVLinkBackend-&gt;MultiRotor</title>
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<text text-anchor="middle" x="282.7273" y="-489" font-family="Helvetica,sans-Serif" font-size="10.00" fill="#0000ff">send_mavlink_message()</text>
<text text-anchor="middle" x="282.7273" y="-477" font-family="Helvetica,sans-Serif" font-size="10.00" fill="#0000ff">calls MultiRotor.set_controls()</text>
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<!-- MultiRotor&#45;&gt;MAVLinkBackend -->
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<title>MultiRotor-&gt;MAVLinkBackend</title>
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<text text-anchor="middle" x="476.1863" y="-477" font-family="Helvetica,sans-Serif" font-size="10.00" fill="#0000ff">calls backend.update()</text>
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<!-- MultiRotor&#45;&gt;MAVLinkBackend -->
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<title>MultiRotor-&gt;MAVLinkBackend</title>
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<text text-anchor="middle" x="611.9688" y="-477" font-family="Helvetica,sans-Serif" font-size="10.00" fill="#0000ff">calls backend.update_sensor()</text>
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<!-- MultiRotor&#45;&gt;MAVLinkBackend -->
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<title>MultiRotor-&gt;MAVLinkBackend</title>
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<text text-anchor="middle" x="770.8038" y="-477" font-family="Helvetica,sans-Serif" font-size="10.00" fill="#0000ff">calls backend.update_state()</text>
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<!-- QuadraticThrustCurve -->
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<title>QuadraticThrustCurve</title>
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<text text-anchor="start" x="258.8145" y="-60.4" font-family="Times,serif" font-size="14.00" fill="#000000">set_input_reference(input_reference): sets target rotor velocities</text>
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<text text-anchor="start" x="294.3633" y="-34.4" font-family="Times,serif" font-size="14.00" fill="#000000">update(state, dt): computes rotor forces and torques</text>
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<text text-anchor="start" x="297.0709" y="-8.4" font-family="Times,serif" font-size="14.00" fill="#000000">force, velocity, rolling_moment, rot_dir properties</text>
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<!-- MultiRotor&#45;&gt;QuadraticThrustCurve -->
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<title>MultiRotor-&gt;QuadraticThrustCurve</title>
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<text text-anchor="middle" x="387.3548" y="-179" font-family="Helvetica,sans-Serif" font-size="10.00" fill="#0000ff">calls QuadraticThrustCurve.set_input_reference()</text>
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<!-- MultiRotor&#45;&gt;QuadraticThrustCurve -->
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<title>MultiRotor-&gt;QuadraticThrustCurve</title>
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<text text-anchor="middle" x="592.4603" y="-179" font-family="Helvetica,sans-Serif" font-size="10.00" fill="#0000ff">calls QuadraticThrustCurve.update()</text>
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