Boot / Init
Arm & Mode
Failsafe
Pause
Inputs & Sensors
Core Control Loop
Outputs & Safety
TICK
RATE
STATE
OK
OVERRIDE
RC INPUT
SENSORS (IMU/GPS)
MISSION CMDS
AP_SCHEDULER
ACTIVE MODE
STB
AUTO
RTL
ATT/RATE CONTROL
TIMER FAILSAFE
ARMING & GATING
MOTOR / SERVO
TELEMETRY & LOG