diff --git a/docs/assets/middleware/ros2/px4_ros2_interface_lib/ros2_modes_overview.svg b/docs/assets/middleware/ros2/px4_ros2_interface_lib/ros2_modes_overview.svg
index a837ba1f45..45acc7593f 100644
--- a/docs/assets/middleware/ros2/px4_ros2_interface_lib/ros2_modes_overview.svg
+++ b/docs/assets/middleware/ros2/px4_ros2_interface_lib/ros2_modes_overview.svg
@@ -1 +1 @@
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diff --git a/docs/assets/middleware/ros2/px4_ros2_interface_lib/rover_control_structure.svg b/docs/assets/middleware/ros2/px4_ros2_interface_lib/rover_control_structure.svg
index ca6af7498f..7d40a33dfa 100644
--- a/docs/assets/middleware/ros2/px4_ros2_interface_lib/rover_control_structure.svg
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/&gt;&#10;        &lt;mxCell id=&quot;vlW15upnmgPBhHTWHlgv-3&quot; value=&quot;&quot; style=&quot;group;rotation=90;&quot; parent=&quot;1&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-410&quot; y=&quot;-660&quot; width=&quot;268&quot; height=&quot;309.25&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Tqq50YgJCc4AZsxwz0bp-1&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=4;fontColor=#ffffff;rotation=90;&quot; parent=&quot;vlW15upnmgPBhHTWHlgv-3&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;18&quot; y=&quot;232&quot; width=&quot;48&quot; height=&quot;64.5&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Tqq50YgJCc4AZsxwz0bp-2&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=4;fontColor=#ffffff;rotation=60;&quot; parent=&quot;vlW15upnmgPBhHTWHlgv-3&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;202&quot; y=&quot;232&quot; width=&quot;48&quot; height=&quot;64.5&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Tqq50YgJCc4AZsxwz0bp-3&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=4;fontColor=#ffffff;rotation=60;&quot; parent=&quot;vlW15upnmgPBhHTWHlgv-3&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;202&quot; y=&quot;12&quot; width=&quot;48&quot; height=&quot;64.5&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Tqq50YgJCc4AZsxwz0bp-4&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=4;fontColor=#ffffff;rotation=90;&quot; parent=&quot;vlW15upnmgPBhHTWHlgv-3&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;18&quot; y=&quot;12&quot; width=&quot;48&quot; height=&quot;64.5&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Tqq50YgJCc4AZsxwz0bp-5&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=4;fontColor=#ffffff;rotation=90;&quot; parent=&quot;vlW15upnmgPBhHTWHlgv-3&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;29&quot; y=&quot;4&quot; width=&quot;211&quot; height=&quot;309.25&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;vlW15upnmgPBhHTWHlgv-1&quot; value=&quot;&quot; style=&quot;shape=flexArrow;endArrow=classic;startArrow=classic;html=1;rounded=0;fillColor=#6a00ff;strokeColor=#3700CC;&quot; parent=&quot;vlW15upnmgPBhHTWHlgv-3&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;100&quot; height=&quot;100&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;38&quot; y=&quot;240&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;225.5&quot; y=&quot;240&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;vlW15upnmgPBhHTWHlgv-2&quot; value=&quot;&amp;lt;font style=&amp;quot;font-size: 19px;&amp;quot;&amp;gt;&amp;lt;b&amp;gt;Wheel Base&amp;lt;/b&amp;gt;&amp;lt;/font&amp;gt;&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=#6a00ff;fontColor=#ffffff;strokeColor=#3700CC;&quot; parent=&quot;vlW15upnmgPBhHTWHlgv-3&quot; vertex=&quot;1&quot;&gt;&#10; 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id=&quot;rdfugUUpj6MhmNhNgdIu-4&quot; value=&quot;&quot; style=&quot;endArrow=none;html=1;rounded=0;dashed=1;strokeWidth=3;fillColor=#1ba1e2;strokeColor=#FFFFFF;&quot; parent=&quot;1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-187&quot; y=&quot;-384&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-183&quot; y=&quot;-619&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;rdfugUUpj6MhmNhNgdIu-6&quot; value=&quot;&quot; style=&quot;verticalLabelPosition=bottom;verticalAlign=top;html=1;shape=mxgraph.basic.arc;startAngle=0.15916816355277247;endAngle=0.2648772917857089;fillColor=#d80073;fontColor=#ffffff;strokeColor=#A50040;strokeWidth=3;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-257&quot; 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style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=2;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; parent=&quot;1&quot; source=&quot;-CajAXCsCjD9G0lBfYgW-1&quot; target=&quot;nysaJ0UvHn4lsYikudD7-9&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;425&quot; y=&quot;310&quot; /&gt;&#10;              &lt;mxPoint x=&quot;560&quot; y=&quot;310&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;-CajAXCsCjD9G0lBfYgW-2&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;dashed=1;dashPattern=1 1;&quot; parent=&quot;1&quot; source=&quot;nysaJ0UvHn4lsYikudD7-2&quot; target=&quot;-CajAXCsCjD9G0lBfYgW-1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;nysaJ0UvHn4lsYikudD7-2&quot; value=&quot;Position Setpoint&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;365&quot; y=&quot;170&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;nysaJ0UvHn4lsYikudD7-15&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=2;&quot; parent=&quot;1&quot; source=&quot;-CajAXCsCjD9G0lBfYgW-3&quot; target=&quot;nysaJ0UvHn4lsYikudD7-7&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;nysaJ0UvHn4lsYikudD7-5&quot; value=&quot;Speed Setpoint&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;245&quot; y=&quot;360&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;nysaJ0UvHn4lsYikudD7-6&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;dashed=1;dashPattern=1 1;&quot; parent=&quot;1&quot; source=&quot;nysaJ0UvHn4lsYikudD7-7&quot; target=&quot;-CajAXCsCjD9G0lBfYgW-9&quot; edge=&quot;1&quot;&gt;&#10;   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style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;&quot; parent=&quot;1&quot; source=&quot;-CajAXCsCjD9G0lBfYgW-5&quot; target=&quot;nysaJ0UvHn4lsYikudD7-11&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;nysaJ0UvHn4lsYikudD7-9&quot; value=&quot;Attitude Setpoint&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;500&quot; y=&quot;360&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;nysaJ0UvHn4lsYikudD7-10&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;&quot; parent=&quot;1&quot; source=&quot;-CajAXCsCjD9G0lBfYgW-7&quot; target=&quot;nysaJ0UvHn4lsYikudD7-13&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;nysaJ0UvHn4lsYikudD7-11&quot; value=&quot;Rate Setpoint&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;500&quot; y=&quot;500&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;nysaJ0UvHn4lsYikudD7-13&quot; value=&quot;Steering Setpoint&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;500&quot; y=&quot;640&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;nysaJ0UvHn4lsYikudD7-14&quot; value=&quot;Actuator Setpoints&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;365&quot; y=&quot;830&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;-CajAXCsCjD9G0lBfYgW-1&quot; value=&quot;Position Controller&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#008a00;fontColor=#ffffff;strokeColor=#005700;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;   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Controller&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#008a00;fontColor=#ffffff;strokeColor=#005700;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;245&quot; y=&quot;430&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;-CajAXCsCjD9G0lBfYgW-6&quot; value=&quot;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;dashed=1;dashPattern=1 1;&quot; parent=&quot;1&quot; source=&quot;nysaJ0UvHn4lsYikudD7-9&quot; target=&quot;-CajAXCsCjD9G0lBfYgW-5&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;560&quot; y=&quot;390&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;560&quot; y=&quot;460&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;-CajAXCsCjD9G0lBfYgW-5&quot; value=&quot;Attitude Controller&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#008a00;fontColor=#ffffff;strokeColor=#005700;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;500&quot; y=&quot;430&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;-CajAXCsCjD9G0lBfYgW-8&quot; value=&quot;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;dashed=1;dashPattern=1 1;&quot; parent=&quot;1&quot; source=&quot;nysaJ0UvHn4lsYikudD7-11&quot; target=&quot;-CajAXCsCjD9G0lBfYgW-7&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;560&quot; y=&quot;490&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;560&quot; y=&quot;580&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;-CajAXCsCjD9G0lBfYgW-7&quot; value=&quot;Rate Controller&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#008a00;fontColor=#ffffff;strokeColor=#005700;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;500&quot; y=&quot;570&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;-CajAXCsCjD9G0lBfYgW-10&quot; value=&quot;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;dashed=1;dashPattern=1 1;&quot; parent=&quot;1&quot; source=&quot;nysaJ0UvHn4lsYikudD7-13&quot; target=&quot;-CajAXCsCjD9G0lBfYgW-9&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;560&quot; y=&quot;710&quot; /&gt;&#10;              &lt;mxPoint x=&quot;425&quot; y=&quot;710&quot; /&gt;&#10;            &lt;/Array&gt;&#10;            &lt;mxPoint x=&quot;560&quot; y=&quot;610&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;425&quot; y=&quot;740&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;-CajAXCsCjD9G0lBfYgW-11&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;&quot; parent=&quot;1&quot; source=&quot;-CajAXCsCjD9G0lBfYgW-9&quot; target=&quot;nysaJ0UvHn4lsYikudD7-14&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;-CajAXCsCjD9G0lBfYgW-9&quot; value=&quot;Actuator Controller&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#008a00;fontColor=#ffffff;strokeColor=#005700;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;365&quot; y=&quot;760&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-1&quot; value=&quot;Position Setpoint&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;600&quot; y=&quot;140&quot; width=&quot;210&quot; height=&quot;180&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxRectangle x=&quot;660&quot; y=&quot;170&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;alternateBounds&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-2&quot; value=&quot;position_ned&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;9ncTKrAF7jvtANOKHRVV-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-3&quot; value=&quot;(Optional)&amp;amp;nbsp;start_ned&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;9ncTKrAF7jvtANOKHRVV-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;60&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-4&quot; value=&quot;(Optional)&amp;amp;nbsp;cruising_speed&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;9ncTKrAF7jvtANOKHRVV-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;90&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-5&quot; value=&quot;(Optional)&amp;amp;nbsp;arrival_speed&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;9ncTKrAF7jvtANOKHRVV-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;120&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-6&quot; value=&quot;(Optional)&amp;amp;nbsp;yaw (mecanum only)&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;9ncTKrAF7jvtANOKHRVV-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;150&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-7&quot; value=&quot;Speed Setpoint&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;360&quot; width=&quot;210&quot; height=&quot;90&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxRectangle x=&quot;660&quot; y=&quot;170&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;alternateBounds&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-8&quot; value=&quot;speed_body_x&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;9ncTKrAF7jvtANOKHRVV-7&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-9&quot; value=&quot;speed_body_y (mecanum only)&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;9ncTKrAF7jvtANOKHRVV-7&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;60&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-13&quot; value=&quot;Attitude Setpoint&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;660&quot; y=&quot;360&quot; width=&quot;210&quot; height=&quot;60&quot; 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style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;500&quot; width=&quot;210&quot; height=&quot;90&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxRectangle x=&quot;660&quot; y=&quot;170&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;alternateBounds&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-21&quot; value=&quot;throttle_body_x&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;9ncTKrAF7jvtANOKHRVV-20&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-22&quot; value=&quot;throttle_body_x (mecanum only)&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;9ncTKrAF7jvtANOKHRVV-20&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;60&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-26&quot; value=&quot;Rate Setpoint&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;660&quot; y=&quot;500&quot; width=&quot;210&quot; height=&quot;60&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxRectangle x=&quot;660&quot; y=&quot;170&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;alternateBounds&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-27&quot; value=&quot;yaw_rate_setpoint&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;9ncTKrAF7jvtANOKHRVV-26&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-28&quot; value=&quot;Steering Setpoint&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;660&quot; y=&quot;640&quot; width=&quot;210&quot; height=&quot;60&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxRectangle x=&quot;660&quot; y=&quot;170&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;alternateBounds&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-29&quot; value=&quot;normalized_steering_setpoint&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;9ncTKrAF7jvtANOKHRVV-28&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;gy642Gg5ozlFiZeCIx5Z-1&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;&quot; edge=&quot;1&quot; parent=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;660&quot; y=&quot;800&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;870&quot; y=&quot;800&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;660.01&quot; y=&quot;800&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;gy642Gg5ozlFiZeCIx5Z-2&quot; value=&quot;Publish&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];fontColor=#EAFFE9;labelBackgroundColor=#1BA1E2;&quot; vertex=&quot;1&quot; connectable=&quot;0&quot; parent=&quot;gy642Gg5ozlFiZeCIx5Z-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.2204&quot; y=&quot;-1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;23&quot; y=&quot;-11&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;gy642Gg5ozlFiZeCIx5Z-3&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;dashed=1;dashPattern=1 1;&quot; edge=&quot;1&quot; parent=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;660&quot; y=&quot;850&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;870&quot; y=&quot;850&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;660.01&quot; y=&quot;850&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;gy642Gg5ozlFiZeCIx5Z-4&quot; value=&quot;Subscribe&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];fontColor=#EAFFE9;labelBackgroundColor=#1BA1E2;labelBorderColor=none;&quot; vertex=&quot;1&quot; connectable=&quot;0&quot; parent=&quot;gy642Gg5ozlFiZeCIx5Z-3&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.2204&quot; y=&quot;-1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;23&quot; y=&quot;-11&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;      &lt;/root&gt;&#10;    &lt;/mxGraphModel&gt;&#10;  &lt;/diagram&gt;&#10;  &lt;diagram name=&quot;Detailed Module Structure&quot; id=&quot;sJXixRfaOWXaferTTQ3C&quot;&gt;&#10;    &lt;mxGraphModel dx=&quot;2924&quot; dy=&quot;2330&quot; grid=&quot;1&quot; gridSize=&quot;10&quot; guides=&quot;1&quot; tooltips=&quot;1&quot; connect=&quot;1&quot; arrows=&quot;1&quot; fold=&quot;1&quot; page=&quot;1&quot; pageScale=&quot;1&quot; pageWidth=&quot;850&quot; pageHeight=&quot;1100&quot; math=&quot;1&quot; shadow=&quot;0&quot;&gt;&#10;      &lt;root&gt;&#10;        &lt;mxCell id=&quot;2vuHhvsrmV4_NiL_qObe-0&quot; /&gt;&#10;        &lt;mxCell id=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-0&quot; /&gt;&#10;        &lt;mxCell id=&quot;BEy9TBvN1vAc2gqtKoeU-8&quot; value=&quot;&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#2B0069;strokeWidth=4;dashed=1;movable=1;resizable=1;rotatable=1;deletable=1;editable=1;locked=0;connectable=1;fontColor=#ffffff;strokeColor=none;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-720&quot; y=&quot;-170&quot; width=&quot;1530&quot; height=&quot;1270&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;BEy9TBvN1vAc2gqtKoeU-1&quot; value=&quot;&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#786900;strokeWidth=4;dashed=1;movable=1;resizable=1;rotatable=1;deletable=1;editable=1;locked=0;connectable=1;fontColor=#000000;strokeColor=none;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-650&quot; y=&quot;-70&quot; width=&quot;1390&quot; height=&quot;1130&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;BEy9TBvN1vAc2gqtKoeU-5&quot; value=&quot;&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#2A4A0A;strokeWidth=4;dashed=1;movable=1;resizable=1;rotatable=1;deletable=1;editable=1;locked=0;connectable=1;fontColor=#ffffff;strokeColor=none;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-460&quot; y=&quot;-60&quot; width=&quot;1010&quot; height=&quot;1020&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;BEy9TBvN1vAc2gqtKoeU-0&quot; value=&quot;&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#381700;strokeWidth=4;dashed=1;movable=1;resizable=1;rotatable=1;deletable=1;editable=1;locked=0;connectable=1;fontColor=#000000;strokeColor=none;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-410&quot; y=&quot;110&quot; width=&quot;880&quot; height=&quot;830&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;hN4NdRFdvSDS0OwuGo2--3&quot; value=&quot;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;strokeColor=#FA6800;strokeWidth=3;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; source=&quot;oWVRHLYo7R1_iEiQfwlR-0&quot; target=&quot;gnlNnFBgX-9Etcnecpjp-0&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oWVRHLYo7R1_iEiQfwlR-0&quot; value=&quot;[RoverType]AttControl&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=0;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#008a00;fontColor=#ffffff;strokeColor=#005700;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;104.38&quot; y=&quot;430&quot; width=&quot;331.25&quot; height=&quot;70&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oWVRHLYo7R1_iEiQfwlR-1&quot; value=&quot;updateAttControl()&amp;lt;div&amp;gt;- RoverAttitudeSetpoint.msg&amp;amp;nbsp;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;\(\rightarrow\) RoverRateSetpoint.msg&amp;lt;/span&amp;gt;&amp;lt;br&amp;gt;&amp;lt;/div&amp;gt;&quot; style=&quot;text;strokeColor=#2D7600;fillColor=#60a917;align=left;verticalAlign=bottom;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;oWVRHLYo7R1_iEiQfwlR-0&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;331.25&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;hN4NdRFdvSDS0OwuGo2--5&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeColor=#FA6800;strokeWidth=3;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; source=&quot;n0au7lR0wnBIfL6MIt3Y-0&quot; target=&quot;XI7fQnG8MVzd1l7MLBpw-1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;5&quot; y=&quot;320&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-210&quot; y=&quot;320&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;hN4NdRFdvSDS0OwuGo2--6&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeColor=#FA6800;strokeWidth=3;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; source=&quot;n0au7lR0wnBIfL6MIt3Y-0&quot; target=&quot;XI7fQnG8MVzd1l7MLBpw-0&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;5&quot; y=&quot;320&quot; /&gt;&#10;              &lt;mxPoint x=&quot;270&quot; y=&quot;320&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;n0au7lR0wnBIfL6MIt3Y-0&quot; value=&quot;[RoverType]PosControl&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=0;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#008a00;fontColor=#ffffff;strokeColor=#005700;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-160&quot; y=&quot;220&quot; width=&quot;330&quot; height=&quot;90&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;n0au7lR0wnBIfL6MIt3Y-1&quot; value=&quot;updatePosControl()&amp;lt;div&amp;gt;- RoverPositionSetpoint.msg&amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; \(\rightarrow\) RoverSpeedSetpoint.msg + RoverAttitudeSetpoint.msg&amp;lt;br&amp;gt;&amp;lt;/div&amp;gt;&quot; style=&quot;text;strokeColor=#2D7600;fillColor=#60a917;align=left;verticalAlign=top;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;n0au7lR0wnBIfL6MIt3Y-0&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;330&quot; height=&quot;60&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;hN4NdRFdvSDS0OwuGo2--2&quot; value=&quot;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;strokeColor=#FA6800;strokeWidth=3;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; source=&quot;oWVRHLYo7R1_iEiQfwlR-3&quot; target=&quot;hN4NdRFdvSDS0OwuGo2--0&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oWVRHLYo7R1_iEiQfwlR-3&quot; value=&quot;[RoverType]SpeedControl&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=0;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#008a00;fontColor=#ffffff;strokeColor=#005700;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-375&quot; y=&quot;430&quot; width=&quot;330&quot; height=&quot;70&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oWVRHLYo7R1_iEiQfwlR-4&quot; value=&quot;updateSpeedControl()&amp;lt;div&amp;gt;-&amp;amp;nbsp;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;RoverSpeedSetpoint.msg&amp;lt;/span&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;&amp;amp;nbsp;&amp;lt;/span&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;\(\rightarrow\)&amp;amp;nbsp;&amp;lt;/span&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;RoverThrottleSetpoint.msg&amp;lt;/span&amp;gt;&amp;lt;/div&amp;gt;&quot; style=&quot;text;strokeColor=#2D7600;fillColor=#60a917;align=left;verticalAlign=top;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;oWVRHLYo7R1_iEiQfwlR-3&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;330&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;hN4NdRFdvSDS0OwuGo2--10&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeColor=#FA6800;strokeWidth=3;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; source=&quot;r9YpdD0ov8jRa_LTt17u-0&quot; target=&quot;gnlNnFBgX-9Etcnecpjp-1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;r9YpdD0ov8jRa_LTt17u-0&quot; value=&quot;[RoverType]RateControl&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=0;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#008a00;fontColor=#ffffff;strokeColor=#005700;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;104.38&quot; y=&quot;620&quot; width=&quot;331.25&quot; height=&quot;70&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;r9YpdD0ov8jRa_LTt17u-1&quot; value=&quot;updateRateControl()&amp;lt;div&amp;gt;- RoverRateSetpoint.msg&amp;amp;nbsp;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;\(\rightarrow\) RoverSteeringSetpoint.msg&amp;lt;/span&amp;gt;&amp;lt;br&amp;gt;&amp;lt;/div&amp;gt;&quot; style=&quot;text;strokeColor=#2D7600;fillColor=#60a917;align=left;verticalAlign=bottom;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;r9YpdD0ov8jRa_LTt17u-0&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;331.25&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;r9YpdD0ov8jRa_LTt17u-2&quot; value=&quot;[RoverType]ActControl&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=0;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#008a00;fontColor=#ffffff;strokeColor=#005700;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-160&quot; y=&quot;830&quot; width=&quot;330&quot; height=&quot;80&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;r9YpdD0ov8jRa_LTt17u-3&quot; value=&quot;updateActControl()&amp;lt;div&amp;gt;&amp;lt;div&amp;gt;- RoverSteeringSetpoint.msg + RoverThrottleSetpoint.msg&amp;lt;/div&amp;gt;&amp;lt;div&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;&amp;amp;nbsp; &amp;amp;nbsp;\(\rightarrow\) ActuatorMotors.msg (+ ActuatorServos.msg)&amp;lt;/span&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;/div&amp;gt;&quot; style=&quot;text;strokeColor=#2D7600;fillColor=#60a917;align=left;verticalAlign=bottom;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;r9YpdD0ov8jRa_LTt17u-2&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;330&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;hN4NdRFdvSDS0OwuGo2--4&quot; value=&quot;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeColor=#FA6800;strokeWidth=3;dashed=1;dashPattern=1 1;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; source=&quot;lpIRUKXgafa41IXE5AdR-0&quot; target=&quot;n0au7lR0wnBIfL6MIt3Y-0&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;     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&lt;mxCell id=&quot;XI7fQnG8MVzd1l7MLBpw-0&quot; value=&quot;RoverAttitudeSetpoint.msg&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#fa6800;fontColor=#000000;strokeColor=#C73500;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;175&quot; y=&quot;360&quot; width=&quot;190&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;hN4NdRFdvSDS0OwuGo2--7&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeColor=#FA6800;strokeWidth=3;dashed=1;dashPattern=1 1;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; source=&quot;XI7fQnG8MVzd1l7MLBpw-1&quot; target=&quot;oWVRHLYo7R1_iEiQfwlR-3&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;XI7fQnG8MVzd1l7MLBpw-1&quot; value=&quot;RoverSpeedSetpoint.msg&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#fa6800;fontColor=#000000;strokeColor=#C73500;fillStyle=auto;glass=0;shadow=0;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-305&quot; y=&quot;360&quot; width=&quot;190&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;hN4NdRFdvSDS0OwuGo2--9&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeColor=#FA6800;strokeWidth=3;dashed=1;dashPattern=1 1;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; source=&quot;gnlNnFBgX-9Etcnecpjp-0&quot; target=&quot;r9YpdD0ov8jRa_LTt17u-0&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;gnlNnFBgX-9Etcnecpjp-0&quot; value=&quot;RoverRateSetpoint.msg&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#fa6800;fontColor=#000000;strokeColor=#C73500;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;175&quot; y=&quot;545&quot; width=&quot;190&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;hN4NdRFdvSDS0OwuGo2--11&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeColor=#FA6800;strokeWidth=3;dashed=1;dashPattern=1 1;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; source=&quot;gnlNnFBgX-9Etcnecpjp-1&quot; target=&quot;r9YpdD0ov8jRa_LTt17u-2&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint 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target=&quot;r9YpdD0ov8jRa_LTt17u-2&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-210&quot; y=&quot;800&quot; /&gt;&#10;              &lt;mxPoint x=&quot;5&quot; y=&quot;800&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;hN4NdRFdvSDS0OwuGo2--0&quot; value=&quot;RoverThrottleSetpoint.msg&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#fa6800;fontColor=#000000;strokeColor=#C73500;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-305&quot; y=&quot;545&quot; width=&quot;190&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;VVwb6arHi2pBgnbGLYax-3&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=3;strokeColor=#CCCC00;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; source=&quot;VVwb6arHi2pBgnbGLYax-0&quot; target=&quot;lpIRUKXgafa41IXE5AdR-0&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;VVwb6arHi2pBgnbGLYax-0&quot; value=&quot;Rover[RoverType]&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=0;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#a0522d;fontColor=#ffffff;strokeColor=#6D1F00;swimlaneLine=1;rounded=0;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-220&quot; y=&quot;-50&quot; width=&quot;450&quot; height=&quot;150&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;VVwb6arHi2pBgnbGLYax-1&quot; value=&quot;&amp;lt;div&amp;gt;&amp;lt;div&amp;gt;updateControllers()&amp;lt;/div&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div&amp;gt;- Update controllers based on VehicleControlMode.msg flags&amp;lt;/div&amp;gt;&quot; style=&quot;text;strokeColor=#6D1F00;fillColor=#DE723E;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;VVwb6arHi2pBgnbGLYax-0&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;450&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;VVwb6arHi2pBgnbGLYax-2&quot; value=&quot;generateRoverSetpoints()&amp;lt;div&amp;gt;- Generate Rover Setpoints from internal PX4 Modes:&amp;lt;br&amp;gt;&amp;lt;div&amp;gt;&amp;lt;span style=&amp;quot;white-space: pre;&amp;quot;&amp;gt;&amp;#x9;&amp;lt;/span&amp;gt;- offboardMode():&amp;amp;nbsp;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;TrajectorySetpoint.msg&amp;amp;nbsp;&amp;lt;/span&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;\(\rightarrow\) RoverSetpoints&amp;lt;/span&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;&amp;lt;span style=&amp;quot;white-space: pre;&amp;quot;&amp;gt;&amp;#x9;&amp;lt;/span&amp;gt;-&amp;amp;nbsp;&amp;lt;/span&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;manualMode():&amp;amp;nbsp;&amp;lt;/span&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;ManualControlSetpoint&amp;amp;nbsp;&amp;lt;/span&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;\(\rightarrow\) RoverSetpoints&amp;lt;/span&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;&amp;lt;span style=&amp;quot;white-space: pre;&amp;quot;&amp;gt;&amp;#x9;&amp;lt;/span&amp;gt;-&amp;amp;nbsp;&amp;lt;/span&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;autoMode():&amp;amp;nbsp;&amp;lt;/span&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;PositionSetpointTriplet.msg&amp;amp;nbsp;&amp;lt;/span&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;\(\rightarrow\)&amp;lt;/span&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;&amp;amp;nbsp;&amp;lt;/span&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;RoverPositionSetpoint.msg&amp;lt;/span&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;/div&amp;gt;&quot; 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style=&quot;endArrow=classic;html=1;rounded=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;&quot; parent=&quot;1&quot; target=&quot;uCIXk9wX_owyG5iXf6p9-6&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;776&quot; y=&quot;575&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;840&quot; y=&quot;470&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;776&quot; y=&quot;525&quot; /&gt;&#10;              &lt;mxPoint x=&quot;820&quot; y=&quot;525&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;uCIXk9wX_owyG5iXf6p9-13&quot; value=&quot;&quot; style=&quot;group&quot; parent=&quot;1&quot; vertex=&quot;1&quot; 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value=&quot;&amp;lt;font color=&amp;quot;#006eaf&amp;quot;&amp;gt;-&amp;lt;/font&amp;gt;&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; parent=&quot;uCIXk9wX_owyG5iXf6p9-16&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;4&quot; y=&quot;10&quot; width=&quot;15&quot; height=&quot;15&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;      &lt;/root&gt;&#10;    &lt;/mxGraphModel&gt;&#10;  &lt;/diagram&gt;&#10;  &lt;diagram name=&quot;Control Structur Speed&quot; id=&quot;PZ4KR9-hgFdjI3M9Fdw6&quot;&gt;&#10;    &lt;mxGraphModel dx=&quot;988&quot; dy=&quot;586&quot; grid=&quot;1&quot; gridSize=&quot;10&quot; guides=&quot;1&quot; tooltips=&quot;1&quot; connect=&quot;1&quot; arrows=&quot;1&quot; fold=&quot;1&quot; page=&quot;1&quot; pageScale=&quot;1&quot; pageWidth=&quot;850&quot; pageHeight=&quot;1100&quot; math=&quot;1&quot; shadow=&quot;0&quot;&gt;&#10;  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height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-6&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;&quot; edge=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;661&quot; y=&quot;575&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;805.0000000000284&quot; y=&quot;575&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-7&quot; value=&quot;Measured Speed&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; vertex=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;960&quot; y=&quot;610&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-8&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;exitX=1;exitY=0.5;exitDx=0;exitDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;&quot; edge=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-1&quot; target=&quot;Ocj6f7jCEs6AZPYwrtlz-5&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;824.9999999999716&quot; y=&quot;575&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;925&quot; y=&quot;610&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;  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vertex=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;1190&quot; y=&quot;560&quot; width=&quot;110&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-11&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=1;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;&quot; edge=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-1&quot; source=&quot;Ocj6f7jCEs6AZPYwrtlz-10&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;1135&quot; y=&quot;630&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;815&quot; y=&quot;585&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              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style=&quot;endArrow=classic;html=1;rounded=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;&quot; edge=&quot;1&quot; parent=&quot;FrdFTRkhaImAh8wmXF7R-1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;841&quot; y=&quot;615&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;985.0000000000284&quot; y=&quot;615&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;FrdFTRkhaImAh8wmXF7R-7&quot; value=&quot;Measured Yaw Rate&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; vertex=&quot;1&quot; parent=&quot;FrdFTRkhaImAh8wmXF7R-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;1140&quot; y=&quot;650&quot; width=&quot;130&quot; 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style=&quot;endArrow=classic;html=1;rounded=0;exitX=0.25;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=1;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;&quot; edge=&quot;1&quot; parent=&quot;FrdFTRkhaImAh8wmXF7R-1&quot; source=&quot;rvi66XmrsyLmnBYPE8ZC-0&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;1425&quot; y=&quot;630&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;995&quot; y=&quot;625&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;1648&quot; y=&quot;680&quot; /&gt;&#10;              &lt;mxPoint x=&quot;1210&quot; y=&quot;680&quot; /&gt;&#10;              &lt;mxPoint x=&quot;995&quot; y=&quot;680&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell 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style=&quot;endArrow=none;html=1;rounded=0;fillColor=#a20025;strokeColor=#6F0000;strokeWidth=4;&quot; parent=&quot;1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;160&quot; y=&quot;720&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;640&quot; y=&quot;400&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;      &lt;/root&gt;&#10;    &lt;/mxGraphModel&gt;&#10;  &lt;/diagram&gt;&#10;  &lt;diagram name=&quot;Boat Module Structure&quot; id=&quot;WvLEs0dtgMEKyBhQiFOo&quot;&gt;&#10;    &lt;mxGraphModel dx=&quot;2924&quot; dy=&quot;1230&quot; grid=&quot;1&quot; gridSize=&quot;10&quot; guides=&quot;1&quot; tooltips=&quot;1&quot; connect=&quot;1&quot; arrows=&quot;1&quot; fold=&quot;1&quot; page=&quot;1&quot; pageScale=&quot;1&quot; pageWidth=&quot;850&quot; pageHeight=&quot;1100&quot; math=&quot;0&quot; shadow=&quot;0&quot;&gt;&#10;      &lt;root&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-0&quot; /&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-1&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-0&quot; /&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-2&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; source=&quot;pnEmLNOugJnBFrobNyRs-16&quot; target=&quot;pnEmLNOugJnBFrobNyRs-7&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;425&quot; y=&quot;310&quot; /&gt;&#10;              &lt;mxPoint x=&quot;305&quot; y=&quot;310&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-3&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=2;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; source=&quot;pnEmLNOugJnBFrobNyRs-16&quot; target=&quot;pnEmLNOugJnBFrobNyRs-11&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;425&quot; y=&quot;310&quot; /&gt;&#10;              &lt;mxPoint x=&quot;560&quot; y=&quot;310&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-4&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;dashed=1;dashPattern=1 1;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; source=&quot;pnEmLNOugJnBFrobNyRs-5&quot; target=&quot;pnEmLNOugJnBFrobNyRs-16&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-5&quot; value=&quot;Position Setpoint&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;365&quot; y=&quot;170&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-6&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=2;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; source=&quot;pnEmLNOugJnBFrobNyRs-18&quot; target=&quot;pnEmLNOugJnBFrobNyRs-9&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-7&quot; value=&quot;Speed Setpoint&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;245&quot; y=&quot;360&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-8&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;dashed=1;dashPattern=1 1;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; source=&quot;pnEmLNOugJnBFrobNyRs-9&quot; target=&quot;pnEmLNOugJnBFrobNyRs-25&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;305&quot; y=&quot;710&quot; /&gt;&#10;              &lt;mxPoint x=&quot;425&quot; y=&quot;710&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-9&quot; value=&quot;Throttle Setpoint&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;245&quot; y=&quot;500&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-10&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; source=&quot;pnEmLNOugJnBFrobNyRs-20&quot; target=&quot;pnEmLNOugJnBFrobNyRs-13&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-11&quot; value=&quot;Attitude Setpoint&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;500&quot; y=&quot;360&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-12&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; source=&quot;pnEmLNOugJnBFrobNyRs-22&quot; target=&quot;pnEmLNOugJnBFrobNyRs-14&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-13&quot; value=&quot;Rate Setpoint&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;500&quot; y=&quot;500&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-14&quot; value=&quot;Steering Setpoint&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;500&quot; y=&quot;640&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-15&quot; value=&quot;Actuator Setpoint&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;365&quot; y=&quot;830&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-16&quot; value=&quot;Position Controller&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#008a00;fontColor=#ffffff;strokeColor=#005700;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;365&quot; y=&quot;240&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-17&quot; value=&quot;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=2;dashed=1;dashPattern=1 1;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; source=&quot;pnEmLNOugJnBFrobNyRs-7&quot; target=&quot;pnEmLNOugJnBFrobNyRs-18&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;305&quot; y=&quot;390&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;305&quot; y=&quot;490&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-18&quot; value=&quot;Speed Controller&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#008a00;fontColor=#ffffff;strokeColor=#005700;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;245&quot; y=&quot;430&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-19&quot; value=&quot;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;dashed=1;dashPattern=1 1;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; source=&quot;pnEmLNOugJnBFrobNyRs-11&quot; target=&quot;pnEmLNOugJnBFrobNyRs-20&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;560&quot; y=&quot;390&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;560&quot; y=&quot;460&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-20&quot; value=&quot;Attitude Controller&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#008a00;fontColor=#ffffff;strokeColor=#005700;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;500&quot; y=&quot;430&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-21&quot; value=&quot;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;dashed=1;dashPattern=1 1;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; source=&quot;pnEmLNOugJnBFrobNyRs-13&quot; target=&quot;pnEmLNOugJnBFrobNyRs-22&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;560&quot; y=&quot;490&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;560&quot; y=&quot;580&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-22&quot; value=&quot;Rate Controller&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#008a00;fontColor=#ffffff;strokeColor=#005700;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;     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as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;425&quot; y=&quot;740&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-24&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; source=&quot;pnEmLNOugJnBFrobNyRs-25&quot; target=&quot;pnEmLNOugJnBFrobNyRs-15&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-25&quot; value=&quot;Actuator Controller&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#008a00;fontColor=#ffffff;strokeColor=#005700;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;365&quot; y=&quot;760&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-0&quot; value=&quot;Position Setpoint&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;600&quot; y=&quot;130&quot; width=&quot;210&quot; height=&quot;180&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxRectangle x=&quot;660&quot; y=&quot;170&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;alternateBounds&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-1&quot; 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as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-3&quot; value=&quot;(Optional)&amp;amp;nbsp;cruising_speed&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;V4iDnHv-aVBngZQXmENo-0&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;90&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-4&quot; value=&quot;(Optional)&amp;amp;nbsp;arrival_speed&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;V4iDnHv-aVBngZQXmENo-0&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;120&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;QTT8W0PznRa5HHyiINpD-0&quot; value=&quot;(Optional)&amp;amp;nbsp;yaw (omnidirectional only)&quot; style=&quot;text;strokeColor=#6F0000;fillColor=#a20025;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;V4iDnHv-aVBngZQXmENo-0&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;150&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-6&quot; value=&quot;Speed Setpoint&quot; 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style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;V4iDnHv-aVBngZQXmENo-6&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;QTT8W0PznRa5HHyiINpD-1&quot; value=&quot;speed_body_y (omnidrectional only)&quot; style=&quot;text;strokeColor=#6F0000;fillColor=#a20025;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;V4iDnHv-aVBngZQXmENo-6&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;60&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-8&quot; value=&quot;speed_setpoint_type&amp;amp;nbsp;&amp;lt;div&amp;gt;(Ground, through water, RPM, ...)&amp;lt;/div&amp;gt;&quot; style=&quot;text;strokeColor=#A50040;fillColor=#d80073;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;V4iDnHv-aVBngZQXmENo-6&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;90&quot; width=&quot;210&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-9&quot; value=&quot;Attitude Setpoint&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;660&quot; y=&quot;360&quot; width=&quot;210&quot; height=&quot;60&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxRectangle x=&quot;660&quot; y=&quot;170&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;alternateBounds&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-10&quot; value=&quot;yaw_setpoint&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;V4iDnHv-aVBngZQXmENo-9&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-11&quot; value=&quot;Throttle Setpoint&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-20&quot; y=&quot;500&quot; width=&quot;210&quot; height=&quot;100&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxRectangle x=&quot;660&quot; y=&quot;170&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;alternateBounds&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-12&quot; value=&quot;throttle_body_x&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;V4iDnHv-aVBngZQXmENo-11&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;QTT8W0PznRa5HHyiINpD-2&quot; value=&quot;throttle_body_y (omnidirectional only)&quot; style=&quot;text;strokeColor=#6F0000;fillColor=#a20025;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;V4iDnHv-aVBngZQXmENo-11&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;60&quot; width=&quot;210&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-14&quot; value=&quot;Rate Setpoint&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;660&quot; y=&quot;500&quot; width=&quot;210&quot; height=&quot;60&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxRectangle x=&quot;660&quot; y=&quot;170&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;alternateBounds&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-15&quot; value=&quot;yaw_rate_setpoint&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;V4iDnHv-aVBngZQXmENo-14&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-16&quot; value=&quot;Steering Setpoint&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;660&quot; y=&quot;640&quot; width=&quot;210&quot; height=&quot;60&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxRectangle x=&quot;660&quot; y=&quot;170&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;alternateBounds&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-17&quot; value=&quot;normalized_steering_setpoint&quot; 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6zYV64dABQVTSekB1rOTtURDgE9825x0UC8jxzERrui5Vc8bhmRgtIHt/0o2gBsUUK+7rb+3skE/iR47PeCLhdIcZQgU+rpLgtiDXztZHDYiyILSI6dn+BYJKhDmJPtrre2jqz3D+AgFBPh7o6jWC1uWRfjEt617hdYS2ypPsuuZveusy/3skzxQUpDgNMbazXjjHWJt8DSusD+BIDYtfgHUSEeTiSDhdVSAmH6NYEEunwzXU23grFEXvSROp1Vc1dJelH7zqf5gsB5JAvYlMa2U9EsDCUxo+1mXjERtiPdq5xy1TV/N4vxnYswbD4ofTJrcf3FhGbma/t/ZCoI6/F5QRkim/Fb3EEHIH5I5ATkLzw2vdF5Ao1zRaCvdE2bVsTO1Lz/PwaVT01uggQNzDaAEQkd0VpIyAUU8SUzwG+U1QV6wSaYSsUZMyz9NDWwghI0giyyVlS0Gu+t50uBPa+T0SKAd8tBKQqE5Gq4qbxoQwz8J7IwpUCf9F0QvL4xyG6llRxPdlyrNwmamKtxtVu5rNYQHBBy/u//Tzjm+KB8NlJq9xgAalutehk7zZ33SpqpJt7Wt7vc+I3USLrpQNOiaBW3T+AgODWCeklaL0R4gBwN+z7bnPCTdawS+fkZV3mX994p/ldVVkvbWr1v4qIPYD3YYz7H8oYXID4d0ZuOWkhIOwNrAe9WafiOk8mPFzBrBQt61kRWK7HQoFbZlXKbFXFsv1A0xCZAyEAYxIVLFjQ2UOspbLKU4AHxX7ixsr9VumCNRrCkLdFIVT25Uaw/F+1Zl9VVdaOnEA5AZnmY/F7HAFHYO4I5AQk17C/U0RwqekVVc1jR36V+433PmTABdEEjtsJfsKN/EFErDvOxt9bLCBVWrF0f8ndC7cBMg7lm8UiCUgp+9d1u9xsCv3LAxnZmLEYbKRstFI4oJJIgFowvZt50ipz4LOCZj0nJRNvHDfA2rS66f0QH4GPdSP3FZG8Dk0zF2YhIHwraIvtHOuMbRkwnYuXDsFCVTk4WdfA70UcOCi1PTsnEGiWSTZB0oleKcyP6vtrCUh6v7jzWfeyN8aDq/3u28YHSbFr19Eicv++gQ3BfJnzr6/f0/ye3Exza2aVxbu2vRYCMpaKt+9ZsbYU5MbO5Ym08ElBg7uRtXj1WgqyNY80vbg7NVKc06pKEpNnmusgE1cZuG7l87OYLVJVUbBYC/yQgsC4wXK/VVo5AembcP67I+AILAWBnICgLbEa1yNFhDiJXlFVajJY/+pviUgeRNj7nNoLYqaTl6QUjvaW8+QxDS0EBFN5r9tS8+DCBkjcyMPyvi7YAoJ23LolDXYBStrePEi7SAwKB8yqZAQGszzIGd9o5shcpZARjbSgbRl5piYg6bBpq9zzJ1JdNsG0cx3X0IcVAq7PjDjYGI+xRxbe70dF5Ka17c5y/0ACkqdxhdiSDau1joKqMm5cdGyWuCoCXDt+M8/zjHwLm39D+9Z3fYr5IybDxjGg2LlXjaKh7/npm8F9Ko/lOkREXlxzf3oGdUQIrG7ky7EmjM2CiKIpt5Tg2kWmuglXrbZ2Ex4QMmJcGtkrpg0moHwkBet7cT/oGl8kFiSawGrZyEZ64qydkoW32tKSsCMWBMVYI05AaieeX+cIOAILRSAnIBTzu65p8dEiUpX6r0BAvi4iQ9LcDhpoPGTk1hruP2+MHSALid0s8hgQDi4E1aLdqpIYpMgGav2Q2+JNFmkBIZOMzWb1HhGxLmi9Y4lkDJM/mWSs6f9RsQgdLlBjUjhgki7Sbpid7akqGz/BkI0QuP623k4OvCAWmsPNgpoojTxOREqpZGeKAeHhsdAYBxFbd+VwEbEpngf2fn6XFwrukW2tNaVx4f0eISKkvq2SWe4fSEAgEbhh2Yxs+4gIBeqKUqheT1wC1ruqgpVVAKSLljn/hvSr9tpC0Da3fixmXHpGzHjFOle9TpbabLGAkM4cZUCVxJTPuAWyjjeC6+z5s2yEpJy1pOaHJZfcvgZVFfdN65b61OiWhvJnJKpKohabFe4BsS1S8VZLbIeA/TPMDWQau5BVoKlqXkSQy3eKac0hvVVSsNY4AalCzi9yBByBRSOQE5DcnWUiaLOtQ7F6ca5p+UV0U7IH0LmOpRDo/GcRmaiLUbCAfE1EqLRcLapKulXrvlEMGlywBYSCezagcFD8RzPYeDjDXYCK2o0UD9GFA+ZdRQQ3uypRVQ6NVpNYRUBSOmcyZhFQSr0AnkGgOodp63Pd9IODqc24tUgCks8Dqo8fVAXIFBep6vUT8cXPngJxaPbBolT/hUBifmtkKAEZSjBzF67q+4cQEAZT8O1/QywKSlKAohQyOz07HuyeWvMKVnn+1fR/6DWqShA5MRbEJeTCQZsDOQqY0/MA85q2WgjIIDcvVcXlDsuMlYvb5AzxvaEow8W0EeJLbDxHTXe5hmQq1pI/9o2n+ZFnCIMgWTJR0xZuUblChtiOUepfVWVtoTiiFZJ5TNS76vgWcuycgNS8Hb/GEXAEFo5ATkDy1JzVPu4FTRqaM1yi5q51BBVVzX1ofx419NZXdgO8AgH5SKyoS5B0tRSsLd+JWUjsIb5pa5EWkJwcPitqAPFFHiQFje2rRWRioy4QkOq5kHAfREBimlveHcH+BA/boONB4wshLJKAoGFF09pIZ9rfoR1vrk/uVGhdZ7EgDiUgrRnRSuMozI/q+6cgINSXoQZNI6xTuGGNWTvTvCPlKH7vNpi6mADBjmsd5t+086nvPlVFsYH7LVkQuwTlxXtTViYSWEzgn9/cQkDOPcSyoqql+LexjFsFhVTfsGt/H0vdnALQm7obtc+ovY7kG58x60DupsVP5xqypxawcwJS+zb8OkfAEVgoAjkByasjU1zqAzU9UFXSh5JG1MqVo6aSTWvuUjhIf1xE8podJQIyjetS7sZVtO4s2AJCSlYbAP0kEcmzc/XirKq4V1icjheRuxQODrmGe2EEJLrv7ZIONmPF7noHU75gkQQkL2o5KJi2bzwp7SiuHDbrTd9tbb8PJSCdbk0V86P6/ikICJYvsjXZlK+3L1XFVlVqLFh3mAnf+sJY1mL+TTsRau5L9WRI20xsW55+u/QIAr7J0PTcrtSzBQIy+ADcQmKuZYuOqmoev1gz7JprxhRWsR3S5VbHD9Y0YK4Z229VNU8z/kcRsUH2vY9PRQypp9PIYPx7G/ELHAFHwBGYAoERAUkBeHmGo91imtYq03Iqdpf7Zd8zBqLnJuQpujl+S6p2ixbUut68RkTyAk8lAnKqiNxuSCdSelQbAP7TWGCRytFjsmACkgd1V2fysp2MhcF4n7ZgWLGw17IsING9jVoa1IrJyQcuFBQVoyYFGkcOPGyeYxa1Zfrgq+rTkm98A+mHYwGx3YfMpa5r48E8L0rJ5dQ2oX4LtQPw/caydFYh2QLFK080zx9KQIYSzKkJ6lACwphiZrXDQwg2RuX1InLvwjeIhn4P8/fORAHrNP/mNc965iDufayP+6WYM1tbpnQr6zCZ59rqZeRB6MVshT194n3yXq2MpUKPCTaOp0DqAjD6fIw3wh10Q1oSecyr2TESX0gBP5g8qCoxazaIfvAz5jU4f44j4Ag4AhaBPgtIa4XWwsZPvAeuD/aZVakvh74SVaUKdm6ZuU+sOk62lDEpuGB9SERsBd/e5gsuWN8QEXzy87YW6YKVF16s9mu3nYy54dHe2aJXrxSRvNowG+3UB8y0UVe5YMWq9nmGG25/Ttzrn95WpT0bzzKD0OnXk0z7rXVUeifV5NxhPpGhzLoOkfqYuibE/3TKHILQV52A5EXmIKTU9RjV8tGzK0CTxahRTPAb8QbM5aKs0/zrmwPz/j0ppUhKAomgyCtZ0koaeJQCxAtSeT5fE0tZsGZ1I6KNy4sIa+KGFOL0iFnBdW+ukgjrD7KH7h7b+vBcGzp7TAdHaxTZHq1sMyRDWSE7nhOQeb8of54j4AhMhUBfDEjRzaFjM8d/FXeGRtDaXy5m18lrQkzVWbPZUAXWBqGyAXLQ4NCbb4C5+9SYRqumI4XN7QsiYrOFNZvgIglIngL2FTHF5ENr+m+vUVUyAtniks8TEYot5rgtnICkCt5U+bZB1W8SkbvXjktV8+D8Rbpg5TEgJ8U6LFgeZhZV/bdo7bCB0lgjcTPpJR80HnHAjc5Wtd9UFpA0xvxdU0mb7HDN9weRfoV5Ge8SEVutOp/juDSuzfybeZLN+IBkuSLzHgdjCIkVArOvFNO2QwxH0uI+dZEhe0JLEPpFbf2iaBV/fqzTYzPSfS6m/bZ70YyjH80xUhazr1lZVIpxLHx5TaOh2OVxJE5A5jIT/CGOgCMwKwJzy4KVDghsAGwEVqpT+dYMRlVxCUADZQ+tp8W0jjZNrt0AcwLym5h21qb07G1WVXO3juLBZsEuWHmdldYxtw0oHSCIJbHZpB4qIvbQtnH7Miwg0R2MdJd51fLrxeKXthhY6/tJMROQW1vHYJEEJM+CVVUUr3eCnY137hpXXQQ0vS9IpI0J2owEJC8AN+Z2qaqnp0ryDeQHlLTyzY/rNv9q5tGyrkmxNq/K1pJHiMiYxr6FgAwtoIr7q02F+9uYHv4idqyFQpy/jDV6+tzHpoIrtpUnBJkY91QPzm4quE9xxbVF5Iu1z1dVUqzbWl5OQGrB8+scAUdgoQjMrQ5IOgThxw85sGZ6NGMsmgSRziyqSuBjHqTbqoFqKUQ4Zr7v61Qhde1hIkLA5pgsmIA8PTb2r6ZBKlbjglKdZSwFe4+yrKRnjWVeMYezZVhA7hvTfx5txoTLzPlqXQxU9SZRE/uR7DUskoDkdUBeGFNikrZzZlFV3K1sKtSniQhWkSqJWBBoarXSm5GAUNh0lKY0FRuk2JymLFa4XzXkmtgEfqO+QlEi5ms1/6omwhIvUtVjQgj3ME1OJLRoISAHRRfW42q7WljzPxktXze096sqFmnqWFmh9svcM1bFtojHspa1YjxS7fg65ucOsQ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7oGhEQAREQARGYl0CtgLChwy2hlOu4e+3iMPk8IsiNT3G7RlpPR+ftWH19FSzOxz919zoTUrMRwn+awmKNXMndcb+ZkmoT/D5355SdjRSZge6RL249jc0B0Sg6Taagr7k7RfG2TVoUkE+6e51eeEv6N8/8ZMZzxYC0xLeMPiVuBpw3/LjV/UEBodPCtSWg+tdg8ykWN9xqcFHEFXIhSczqAGfawbWHuhmjJSJIZlAq4RTlY0Nfv0/LsoBcf0xcTzGvtSWSuIlzlOwignixJiEDt+I2da6xFtjiWRQlpChiI29IyTDKQq4bf9+kAjIqDig/h0KNJPYo5YJtiQKkgIxe8rpQBERABERgiwnM5Jhv+eF8XnIJKbMVTbqUq1CTPasRsuNcdGx603x6xwkofuxYHLBokGazsV6Uw8dFjM8a6VNAOJ0t638cnvyiyxolzSahtHQ83t03UhFX1ZmxHlAPBNeycuzEVZSVkTsDUrd4Dss+1TEgVIguT67n6spWzU9mPK8CguvLpIJ2toaR0nleoZZFmdb5MHdH4dwWydmmUPDbalKQdpYga4K0KYw5FWA+1OGIuE1i9vrqOtI0z9TQGWgLZb5M0/3txKxOjb1MC8hcbmgRQUpeLEelYPmbJLdImcMINC8Dxheq1xMRZMsqXdg+7u5YIaZkkwrIhce4sOb3iMx19eGKFJChl0Ofi4AIiIAIbCuBNgXknkmJeH7RK9Kc8oPYFmhZnyqOCgrO7joEpJOhaVHpU0BqX+1XpIBWNikTiYiLmllZrXySPrdFsZqxAkXEMbkSd9PmwrEWiwJo2fTUCshCStFWz0/eOM2rgPxHroOxLFxNO3+XLGkEF2+b5DSvxFT0ujvmVNm4ERFM/Y4hRb9SpJc5vtZ3b5ET9g4XLGIYRlt+OrJbTWUEaylSOrF4zgMmZQYj9W9Zr+bL7j7zPbZJBeTcY90C89qRAjLPJOpaERABERCBbSfQpoDg1kQQbOne1OqTnE5Y61Ppmcra1aafOiGcNo8Ogu0h1KeAMC7G0FTK/pa7T50wRwRF8F6c28e6gZVjEisREQTWN/fMVFSvgns3Cie6O8ratkmLC9YzUp9IPztKclrTLZ+fBRUQTrPr4nGjxjVw0WNTvEWTdnkZ7S3URo5dQqGneGcZ8N3VHu5/nMY/qacuB+lyn7lQh4ZvmlESlqSA/NLdSxe5wZ50KDFXSYHoE9eklnorb0uupSSsmEtypjiy5TXyvZTGt/memfxRCshcWHWxCIiACIjALiMwo4DkzWEZA8GfZuphRATpTMkY1cgZ7n7NPn4R8aTke00wcSls3knzSX5+4k/IuPOzFpensmAg93cqIHkMuGSUVo9Luzun6BsSERQ5o3I6MpPSNyIIAqUCMjKVWz/Hf/ywqAlweqpCTQatbZUWBeTp6ST1IWM7teL5mdcCQl0HspYtW+ZS0pb98Lq9XLeDVM5kbqNKeFn7pu3xBJkf2pGV6r6JGQUot0JI2DClcC9JAfl5yrxXVmAf7HtHgDkFEyffT8mdsE7BO1emreJ7g1gYYmIaaU17KwVkcNp0gQiIgAiIwC4m0KWAXDttfj5YcCFbEKl1SdO7IS3554fqbRDjwYlkWecAK8PN2gLEWzZm8yogpYWD5u7u7icV/S9Td3KKXG4qGB9xL00tATLKnL9xC4kIglAJRm2kM1PWKtfWZhSQpHCten7mVUCoCVHWADnW3Y9bJd9VPysHzaPUEydFHAZJEs7R0g/ezzvX2a1aYiM6U7QuY2xLUkDoylnmCQ7vcMHi++rbxfteHijw59H1cUo2KZ0vFqWyEOMX3Z04jCmRArKMFaU2REAEREAEdiqBVgUkKxhlgT7+9CB3n9RQiAiUCTKwIGSdIXCUIPRWiYjHVoGsbIZwk5jJTtXWQETUhRKHLCB1Rp4XufuheWxUNS4zAVFx+a3VRqPOLrNfKjJIxq825WvvlHr4E9u9SDapgKx6fuZVQEg1Wgb7Hu/uZVG47ca/5c9PFipck3AbOqLK8sazschh5cM1a0MigoBzTv5LIe3wTIrWZXR+iQrIjHWlr38dQei4VGIdaliQsOA+RTufd/fm+2v08FN8GG6bHG408hF3pxjilEgBGY1UF4qACIiACOxCAn0KSF20bfJDGxFkrfp0wet17n7QwCbhAymjz3WKa97o7mTpGSURUdeB6FVAaDQi6CN9Rb7i7hsn6BFRBtrjAoZ1Y6YWRESUbj+TqtnJAvLuZAG5cW6XawjS5xR6W2WTCshK52eBOiC46VGVu5HOApPbOgkrenhEkCb6eVgLikc+wN1PbP6dAq8Jjq7r0lwtFebkcGHpskQFpDeWrO54RBCTQVKLRn6UDkvOW14XESirZbIB6v6cc55g9/zdUb8nJ6dDFA5HpkQKyNKXlxoUAREQARHYQQT6FBACYXFhKFPiXsbdv9oSK9BaDbjaAJRB3Xz0KHfn1H2URERd22OMAsKGozwlJ0Xwd6qMOB9O1g9czmakqj1xmrvfKvvoc9rcBMq+zN3vNmoQW3zRJhWQlc7PAgrIkSlN8/EFwq8nl7pLbjHStW4+Il6SFOty7U1thrMLF8H75ysGMuWKuMwBLlEBGV2ILysFdWrcmXc6IojRem813qu6e133qBNJsuJS2BErb8mzNYuaFJBlriy1JQIiIAIisNMIdCog+Ye9roBMnAT1NQjm3ivDoDIw/tZTdTJqUBGBa0j5w30vdy/T/fb98JOelI1Cedo7RgE5INdRaNrGT/7kFN9BhixctJAnp+rnZB9qU0BKKxDuHBfIfvjlRuZuybJS1yDYlnWySQVkpfOzgAKCm0tdEHMtXN+WMdkRwWn8XPU5qkxudIPChWUBTqx9b8luW003T03ugrdeRp9b3vFlFSJ8aTroKN2cersbEbhT4lbZyAtS/Mdh5U0RQVY/6qpQT6iRmex2fQ9Kme+IwTm9uqa1aKIUkK1YYWpTBERABERgpxAYUkCodkzdgUbOyAGY5Y/wqExLEVEGfdPeUSnbzVOGQEbEWXPA93Wra3/l7m0FCyeXZZ95NtaNtYITdDJ8fa5oayb+o/ksIqgi/vHi2qunfx9oZo/Lf8PtCvcr3LC2XTapgKx0floUkMFNZ4oDIl6oDPidy/oUESiQKI9UGmdds2GfxAmscgJROLACpuxvBJnzHxadfebpQ0Tcy8zKApuvSSf6d6g23geb2SuLv3FQwMl/mcGu97ERcWyqO7J/Zkb2qNL9snzf2hSQDatp1wM6UugyJ5cq41l67q/dQbm0tSZPRNQHKiQ2IFvWqJojVeY8nsM7w/iIZ5uSM5EC0js/86xHXSsCIiACIiACYwkMKSB8/hU2A0WDVGVGMWlklBtDRBDkTVrRRiikhoWiU7ILybNy0C3peRurRXPPYLBqRLDRbPpL5fJXFalJO+M/eECui4ECQ4V2hODfm5sZwb3IJ9x977Gwt/q6TSogK52fiCBWAZ6NTKU6bmMVEW11LQbd/4q5ZANabtBnNuxbPUdl+8mCwca8fLcOdnf6OEpaalscl2KRUBYmklNG415X1qpAAbtpyvz2y6EHpfS1BP6/r3LFbI0jSXOK22adiOLa7v7hrud0KCBcfmKqZF5mm2ptomXNU8uHSuBthVNvQkrxqqEHu3vp2tf1HJRDMgPihtXIw1PNElKLz8iaKiBzz8/Q+tDnIiACIiACIrAIgV4FhAZbKn6Xz/nY2FPbiKAexVOrTt421Q6h/kfbDzg/lvi4UxOBLFts/IkDKeWW7v7mvoFXz2VzcmqqX8KpMNIZ/9G0WbmwsDnExaWpzfAEd3/kIuC34p5NKiArnZ+kXD4mWwAaFGRmono1MQutkjfTZCLDEtXIL1JF+3u6O2lWu+5jLWEpoLZGIyif+7g7Vr1tkZbECoyF2h0n9SU1yLEIrDsYTpZqtmxMiu8Va/hO6aS/Vmw4SDjE3XFH7OJ2u1SM84VVAchTUoG/O7bdkK2VjKHcpPe+Iy0KCMkguJ90w0cnxeeJHRYGvruOqRjQrZmU2mVfq7guPsL6gTsocSRdHLD+vK6qQ4Pb1zXK4qXVc3AXLLNjHenuVFGfkvTOXiWtyzopwFZVQseaPNf8bMuLoYeKgAiIgAjseAJjFJCLZVeDclPRgLmfu5PeclCy+8vXqwrrbAKxcLw6bSK/lV2lyNyDsnGImZ07N7xxShkR368Ks2GdOTxbac7u7nXGHxSoq5nZp4oOcjLa1FLojP8oNm/EvVB8DMFHvyySdkN3r33CB1ls1QWbVEBwT1rZ/EQEm9vXVixwaWEjSFwRJ/a/rk+Y84aNk2h8+kshTe/JeTOHrz9ud1gXqNlClqJmLTX3bHvtluwi+MnKrYz+sbl9Y840h4LAppHxwATlC3aXrsb/nOQKiPLSKi3uQ1zHZh+LIMoINX6wiKBc886grNUuYSSluFafy2GaV9417p+8QmaGcsiGnO8QMtE9u3EBa1FAsKA8JysXtIG710uT1ZH55f1n3nG7IqV27ZaJlfTydYHEEkhEwJCU2RepQGEdJZaLWDOsnuenLTMjUx8xM+V3JRm0iP3YSMvdJutoAaGfQ/Pj7nwfS0RABERABERgSwkMKiD5R+u0bIkoO8NmZc8xftqTnUgESsWkGODIkZ2Q/PTJgMSPJ/fSRptsZKnq2Aywudqz5bPO+I+iz5x+4oJSC1Wg9xgKvh85xqVcthkFJPNd2fxEBEogSieKT5e8y90pwjclOTaHNVm75I3l2HtKPraRZVwXEQRP4xbUJHVYpNnXmNld+lyqstUEt7eyFsY8z0I5PcDdv9R3U0Q8NCeq6LtsErjdooAQ/4EShEvgVED9QGexoN1oTD2eVMsDxRSlqwxcH8sCCx2WWxSWTlljBaR3ftx91G/CWFi6TgREQAREQATaCIz6sek4rW7Nfz+EOQfOcsrWG0BuZmxEqL1BrYMNydW6CQqvT7P5uE8BqdOVcn1v/EfxTLLmkHa3rkD9enfnJHptZL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edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;617.1700000000002&quot; y=&quot;-221&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;617.0000000000001&quot; y=&quot;-300&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Rxf660Q8QGQ4noCSAKEs-12&quot; value=&quot;&amp;lt;b&amp;gt;&amp;lt;font color=&amp;quot;#000000&amp;quot;&amp;gt;Differential&amp;lt;/font&amp;gt;&amp;lt;/b&amp;gt;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#FFFFFF;strokeColor=#000000;&quot; parent=&quot;y-OG-dRWjvRD8T2UrjH--1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;559.5&quot; width=&quot;107.75&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell 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style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; parent=&quot;1&quot; source=&quot;-CajAXCsCjD9G0lBfYgW-1&quot; target=&quot;nysaJ0UvHn4lsYikudD7-5&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;425&quot; y=&quot;310&quot; /&gt;&#10;              &lt;mxPoint x=&quot;305&quot; y=&quot;310&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;nysaJ0UvHn4lsYikudD7-16&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=2;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; parent=&quot;1&quot; source=&quot;-CajAXCsCjD9G0lBfYgW-1&quot; target=&quot;nysaJ0UvHn4lsYikudD7-9&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;425&quot; y=&quot;310&quot; /&gt;&#10;              &lt;mxPoint x=&quot;560&quot; y=&quot;310&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;-CajAXCsCjD9G0lBfYgW-2&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;dashed=1;dashPattern=1 1;&quot; parent=&quot;1&quot; source=&quot;nysaJ0UvHn4lsYikudD7-2&quot; target=&quot;-CajAXCsCjD9G0lBfYgW-1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;nysaJ0UvHn4lsYikudD7-2&quot; value=&quot;Position Setpoint&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;365&quot; y=&quot;170&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;nysaJ0UvHn4lsYikudD7-15&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=2;&quot; parent=&quot;1&quot; source=&quot;-CajAXCsCjD9G0lBfYgW-3&quot; target=&quot;nysaJ0UvHn4lsYikudD7-7&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;nysaJ0UvHn4lsYikudD7-5&quot; value=&quot;Speed Setpoint&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;245&quot; y=&quot;360&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;nysaJ0UvHn4lsYikudD7-6&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;dashed=1;dashPattern=1 1;&quot; parent=&quot;1&quot; source=&quot;nysaJ0UvHn4lsYikudD7-7&quot; target=&quot;-CajAXCsCjD9G0lBfYgW-9&quot; edge=&quot;1&quot;&gt;&#10;   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style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;&quot; parent=&quot;1&quot; source=&quot;-CajAXCsCjD9G0lBfYgW-5&quot; target=&quot;nysaJ0UvHn4lsYikudD7-11&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;nysaJ0UvHn4lsYikudD7-9&quot; value=&quot;Attitude Setpoint&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;500&quot; y=&quot;360&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;nysaJ0UvHn4lsYikudD7-10&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;&quot; parent=&quot;1&quot; source=&quot;-CajAXCsCjD9G0lBfYgW-7&quot; target=&quot;nysaJ0UvHn4lsYikudD7-13&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;nysaJ0UvHn4lsYikudD7-11&quot; value=&quot;Rate Setpoint&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;500&quot; y=&quot;500&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;nysaJ0UvHn4lsYikudD7-13&quot; value=&quot;Steering Setpoint&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;500&quot; y=&quot;640&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;nysaJ0UvHn4lsYikudD7-14&quot; value=&quot;Actuator Setpoints&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;365&quot; y=&quot;830&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;-CajAXCsCjD9G0lBfYgW-1&quot; value=&quot;Position Controller&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#008a00;fontColor=#ffffff;strokeColor=#005700;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;   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style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;dashed=1;dashPattern=1 1;&quot; parent=&quot;1&quot; source=&quot;nysaJ0UvHn4lsYikudD7-13&quot; target=&quot;-CajAXCsCjD9G0lBfYgW-9&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;560&quot; y=&quot;710&quot; /&gt;&#10;              &lt;mxPoint x=&quot;425&quot; y=&quot;710&quot; /&gt;&#10;            &lt;/Array&gt;&#10;            &lt;mxPoint x=&quot;560&quot; y=&quot;610&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;425&quot; y=&quot;740&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;-CajAXCsCjD9G0lBfYgW-11&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;&quot; parent=&quot;1&quot; source=&quot;-CajAXCsCjD9G0lBfYgW-9&quot; target=&quot;nysaJ0UvHn4lsYikudD7-14&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;-CajAXCsCjD9G0lBfYgW-9&quot; value=&quot;Actuator Controller&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#008a00;fontColor=#ffffff;strokeColor=#005700;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;365&quot; y=&quot;760&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-1&quot; value=&quot;Position Setpoint&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;600&quot; y=&quot;140&quot; width=&quot;210&quot; height=&quot;180&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxRectangle x=&quot;660&quot; y=&quot;170&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;alternateBounds&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-2&quot; value=&quot;position_ned&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;9ncTKrAF7jvtANOKHRVV-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-3&quot; value=&quot;(Optional)&amp;amp;nbsp;start_ned&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;9ncTKrAF7jvtANOKHRVV-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;60&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-4&quot; value=&quot;(Optional)&amp;amp;nbsp;cruising_speed&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;9ncTKrAF7jvtANOKHRVV-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;90&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-5&quot; value=&quot;(Optional)&amp;amp;nbsp;arrival_speed&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;9ncTKrAF7jvtANOKHRVV-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;120&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-6&quot; value=&quot;(Optional)&amp;amp;nbsp;yaw (mecanum only)&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;9ncTKrAF7jvtANOKHRVV-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;150&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-7&quot; value=&quot;Speed Setpoint&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;360&quot; width=&quot;210&quot; height=&quot;90&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxRectangle x=&quot;660&quot; y=&quot;170&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;alternateBounds&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-8&quot; value=&quot;speed_body_x&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;9ncTKrAF7jvtANOKHRVV-7&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-9&quot; value=&quot;speed_body_y (mecanum only)&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;9ncTKrAF7jvtANOKHRVV-7&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;60&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-13&quot; value=&quot;Attitude Setpoint&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;660&quot; y=&quot;360&quot; width=&quot;210&quot; height=&quot;60&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxRectangle x=&quot;660&quot; y=&quot;170&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;alternateBounds&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-14&quot; value=&quot;yaw_setpoint&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;9ncTKrAF7jvtANOKHRVV-13&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-20&quot; value=&quot;Throttle Setpoint&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;500&quot; width=&quot;210&quot; height=&quot;90&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxRectangle x=&quot;660&quot; y=&quot;170&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;alternateBounds&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-21&quot; value=&quot;throttle_body_x&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;9ncTKrAF7jvtANOKHRVV-20&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-22&quot; value=&quot;throttle_body_x (mecanum only)&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;9ncTKrAF7jvtANOKHRVV-20&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;60&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-26&quot; value=&quot;Rate Setpoint&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;660&quot; y=&quot;500&quot; width=&quot;210&quot; height=&quot;60&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxRectangle x=&quot;660&quot; y=&quot;170&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;alternateBounds&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-27&quot; value=&quot;yaw_rate_setpoint&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;9ncTKrAF7jvtANOKHRVV-26&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-28&quot; value=&quot;Steering Setpoint&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;660&quot; y=&quot;640&quot; width=&quot;210&quot; height=&quot;60&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxRectangle x=&quot;660&quot; y=&quot;170&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;alternateBounds&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;9ncTKrAF7jvtANOKHRVV-29&quot; value=&quot;normalized_steering_setpoint&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;9ncTKrAF7jvtANOKHRVV-28&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;gy642Gg5ozlFiZeCIx5Z-1&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;&quot; edge=&quot;1&quot; parent=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;660&quot; y=&quot;800&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;870&quot; y=&quot;800&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;660.01&quot; y=&quot;800&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;gy642Gg5ozlFiZeCIx5Z-2&quot; value=&quot;Publish&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];fontColor=#EAFFE9;labelBackgroundColor=#1BA1E2;&quot; vertex=&quot;1&quot; connectable=&quot;0&quot; parent=&quot;gy642Gg5ozlFiZeCIx5Z-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.2204&quot; y=&quot;-1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;23&quot; y=&quot;-11&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;gy642Gg5ozlFiZeCIx5Z-3&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;dashed=1;dashPattern=1 1;&quot; edge=&quot;1&quot; parent=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;660&quot; y=&quot;850&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;870&quot; y=&quot;850&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;660.01&quot; y=&quot;850&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;gy642Gg5ozlFiZeCIx5Z-4&quot; value=&quot;Subscribe&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];fontColor=#EAFFE9;labelBackgroundColor=#1BA1E2;labelBorderColor=none;&quot; vertex=&quot;1&quot; connectable=&quot;0&quot; parent=&quot;gy642Gg5ozlFiZeCIx5Z-3&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.2204&quot; y=&quot;-1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;23&quot; y=&quot;-11&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;      &lt;/root&gt;&#10;    &lt;/mxGraphModel&gt;&#10;  &lt;/diagram&gt;&#10;  &lt;diagram name=&quot;Detailed Module Structure&quot; id=&quot;sJXixRfaOWXaferTTQ3C&quot;&gt;&#10;    &lt;mxGraphModel dx=&quot;2924&quot; dy=&quot;2330&quot; grid=&quot;1&quot; gridSize=&quot;10&quot; guides=&quot;1&quot; tooltips=&quot;1&quot; connect=&quot;1&quot; arrows=&quot;1&quot; fold=&quot;1&quot; page=&quot;1&quot; pageScale=&quot;1&quot; pageWidth=&quot;850&quot; pageHeight=&quot;1100&quot; math=&quot;1&quot; shadow=&quot;0&quot;&gt;&#10;      &lt;root&gt;&#10;        &lt;mxCell id=&quot;2vuHhvsrmV4_NiL_qObe-0&quot; /&gt;&#10;        &lt;mxCell id=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-0&quot; /&gt;&#10;        &lt;mxCell id=&quot;BEy9TBvN1vAc2gqtKoeU-8&quot; value=&quot;&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#2B0069;strokeWidth=4;dashed=1;movable=1;resizable=1;rotatable=1;deletable=1;editable=1;locked=0;connectable=1;fontColor=#ffffff;strokeColor=none;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-720&quot; y=&quot;-170&quot; width=&quot;1530&quot; height=&quot;1270&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;BEy9TBvN1vAc2gqtKoeU-1&quot; value=&quot;&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#786900;strokeWidth=4;dashed=1;movable=1;resizable=1;rotatable=1;deletable=1;editable=1;locked=0;connectable=1;fontColor=#000000;strokeColor=none;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-650&quot; y=&quot;-70&quot; width=&quot;1390&quot; height=&quot;1130&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;BEy9TBvN1vAc2gqtKoeU-5&quot; value=&quot;&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#2A4A0A;strokeWidth=4;dashed=1;movable=1;resizable=1;rotatable=1;deletable=1;editable=1;locked=0;connectable=1;fontColor=#ffffff;strokeColor=none;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-460&quot; y=&quot;-60&quot; width=&quot;1010&quot; height=&quot;1020&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;BEy9TBvN1vAc2gqtKoeU-0&quot; value=&quot;&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#381700;strokeWidth=4;dashed=1;movable=1;resizable=1;rotatable=1;deletable=1;editable=1;locked=0;connectable=1;fontColor=#000000;strokeColor=none;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; 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style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=0;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#008a00;fontColor=#ffffff;strokeColor=#005700;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;104.38&quot; y=&quot;430&quot; width=&quot;331.25&quot; height=&quot;70&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oWVRHLYo7R1_iEiQfwlR-1&quot; value=&quot;updateAttControl()&amp;lt;div&amp;gt;- RoverAttitudeSetpoint.msg&amp;amp;nbsp;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;\(\rightarrow\) RoverRateSetpoint.msg&amp;lt;/span&amp;gt;&amp;lt;br&amp;gt;&amp;lt;/div&amp;gt;&quot; 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&amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; &amp;amp;nbsp; \(\rightarrow\) RoverSpeedSetpoint.msg + RoverAttitudeSetpoint.msg&amp;lt;br&amp;gt;&amp;lt;/div&amp;gt;&quot; style=&quot;text;strokeColor=#2D7600;fillColor=#60a917;align=left;verticalAlign=top;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;n0au7lR0wnBIfL6MIt3Y-0&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;330&quot; height=&quot;60&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;hN4NdRFdvSDS0OwuGo2--2&quot; value=&quot;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;strokeColor=#FA6800;strokeWidth=3;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; source=&quot;oWVRHLYo7R1_iEiQfwlR-3&quot; target=&quot;hN4NdRFdvSDS0OwuGo2--0&quot; 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style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;&amp;amp;nbsp;&amp;lt;/span&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;\(\rightarrow\)&amp;amp;nbsp;&amp;lt;/span&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;RoverThrottleSetpoint.msg&amp;lt;/span&amp;gt;&amp;lt;/div&amp;gt;&quot; style=&quot;text;strokeColor=#2D7600;fillColor=#60a917;align=left;verticalAlign=top;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;oWVRHLYo7R1_iEiQfwlR-3&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;330&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;hN4NdRFdvSDS0OwuGo2--10&quot; 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style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=3;strokeColor=#CCCC00;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; source=&quot;VVwb6arHi2pBgnbGLYax-0&quot; target=&quot;lpIRUKXgafa41IXE5AdR-0&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;VVwb6arHi2pBgnbGLYax-0&quot; value=&quot;Rover[RoverType]&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=0;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#a0522d;fontColor=#ffffff;strokeColor=#6D1F00;swimlaneLine=1;rounded=0;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-220&quot; y=&quot;-50&quot; width=&quot;450&quot; height=&quot;150&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;VVwb6arHi2pBgnbGLYax-1&quot; value=&quot;&amp;lt;div&amp;gt;&amp;lt;div&amp;gt;updateControllers()&amp;lt;/div&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div&amp;gt;- Update controllers based on VehicleControlMode.msg flags&amp;lt;/div&amp;gt;&quot; style=&quot;text;strokeColor=#6D1F00;fillColor=#DE723E;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;VVwb6arHi2pBgnbGLYax-0&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;450&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;VVwb6arHi2pBgnbGLYax-2&quot; value=&quot;generateRoverSetpoints()&amp;lt;div&amp;gt;- Generate Rover Setpoints from internal PX4 Modes:&amp;lt;br&amp;gt;&amp;lt;div&amp;gt;&amp;lt;span style=&amp;quot;white-space: pre;&amp;quot;&amp;gt;&amp;#x9;&amp;lt;/span&amp;gt;- offboardMode():&amp;amp;nbsp;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;TrajectorySetpoint.msg&amp;amp;nbsp;&amp;lt;/span&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;\(\rightarrow\) RoverSetpoints&amp;lt;/span&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;&amp;lt;span style=&amp;quot;white-space: pre;&amp;quot;&amp;gt;&amp;#x9;&amp;lt;/span&amp;gt;-&amp;amp;nbsp;&amp;lt;/span&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;manualMode():&amp;amp;nbsp;&amp;lt;/span&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;ManualControlSetpoint&amp;amp;nbsp;&amp;lt;/span&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;\(\rightarrow\) RoverSetpoints&amp;lt;/span&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;&amp;lt;span style=&amp;quot;white-space: pre;&amp;quot;&amp;gt;&amp;#x9;&amp;lt;/span&amp;gt;-&amp;amp;nbsp;&amp;lt;/span&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;autoMode():&amp;amp;nbsp;&amp;lt;/span&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;PositionSetpointTriplet.msg&amp;amp;nbsp;&amp;lt;/span&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;\(\rightarrow\)&amp;lt;/span&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;&amp;amp;nbsp;&amp;lt;/span&amp;gt;&amp;lt;span style=&amp;quot;background-color: initial;&amp;quot;&amp;gt;RoverPositionSetpoint.msg&amp;lt;/span&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;/div&amp;gt;&quot; style=&quot;text;strokeColor=#6D1F00;fillColor=#DE723E;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;VVwb6arHi2pBgnbGLYax-0&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;70&quot; width=&quot;450&quot; height=&quot;80&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;VVwb6arHi2pBgnbGLYax-4&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;strokeWidth=3;fillColor=#1ba1e2;strokeColor=#1BA1E2;dashed=1;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; source=&quot;VVwb6arHi2pBgnbGLYax-1&quot; target=&quot;oWVRHLYo7R1_iEiQfwlR-4&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array 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&lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;VVwb6arHi2pBgnbGLYax-6&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=1;entryY=0.75;entryDx=0;entryDy=0;strokeWidth=3;fillColor=#1ba1e2;strokeColor=#1BA1E2;dashed=1;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; source=&quot;VVwb6arHi2pBgnbGLYax-1&quot; target=&quot;n0au7lR0wnBIfL6MIt3Y-0&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;520&quot; /&gt;&#10;              &lt;mxPoint x=&quot;520&quot; y=&quot;288&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;VVwb6arHi2pBgnbGLYax-7&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=1;entryY=0.75;entryDx=0;entryDy=0;strokeWidth=3;fillColor=#1ba1e2;strokeColor=#1BA1E2;dashed=1;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; source=&quot;VVwb6arHi2pBgnbGLYax-1&quot; target=&quot;oWVRHLYo7R1_iEiQfwlR-0&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;530&quot; /&gt;&#10;              &lt;mxPoint x=&quot;530&quot; y=&quot;483&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;VVwb6arHi2pBgnbGLYax-8&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;entryX=1;entryY=0.75;entryDx=0;entryDy=0;strokeWidth=3;fillColor=#1ba1e2;strokeColor=#1BA1E2;dashed=1;&quot; 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y=&quot;553&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;VVwb6arHi2pBgnbGLYax-14&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;strokeWidth=3;strokeColor=#CCCC00;entryX=1;entryY=0.25;entryDx=0;entryDy=0;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; source=&quot;VVwb6arHi2pBgnbGLYax-2&quot; target=&quot;gnlNnFBgX-9Etcnecpjp-1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;400&quot; y=&quot;750&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;510&quot; y=&quot;60&quot; /&gt;&#10;              &lt;mxPoint x=&quot;510&quot; y=&quot;758&quot; /&gt;&#10;              &lt;mxPoint x=&quot;365&quot; y=&quot;758&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;v8hsuB_emygMuLFFY0tn-0&quot; value=&quot;Module&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=0;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#a0522d;fontColor=#ffffff;strokeColor=#6D1F00;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;380&quot; y=&quot;1120&quot; width=&quot;200&quot; height=&quot;60&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;v8hsuB_emygMuLFFY0tn-1&quot; value=&quot;functions()&quot; style=&quot;text;strokeColor=#6D1F00;fillColor=#DE723E;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;v8hsuB_emygMuLFFY0tn-0&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;200&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;v8hsuB_emygMuLFFY0tn-2&quot; value=&quot;Library&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=0;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#008a00;fontColor=#ffffff;strokeColor=#005700;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;380&quot; y=&quot;1180&quot; width=&quot;200&quot; height=&quot;60&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;v8hsuB_emygMuLFFY0tn-3&quot; value=&quot;functions()&quot; style=&quot;text;strokeColor=#2D7600;fillColor=#60a917;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;v8hsuB_emygMuLFFY0tn-2&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;200&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;v8hsuB_emygMuLFFY0tn-4&quot; value=&quot;Logging Message&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#d80073;fontColor=#ffffff;strokeColor=#A50040;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;600&quot; y=&quot;1180&quot; width=&quot;200&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;v8hsuB_emygMuLFFY0tn-6&quot; value=&quot;Actuator Setpoint&quot; 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style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=1;entryY=0.75;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; source=&quot;S8hn3PG-FnnGNJ0Hs8nU-0&quot; target=&quot;gnlNnFBgX-9Etcnecpjp-1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;770&quot; y=&quot;-120&quot; /&gt;&#10;              &lt;mxPoint x=&quot;770&quot; y=&quot;773&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;S8hn3PG-FnnGNJ0Hs8nU-0&quot; value=&quot;DDS Bridge&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-160&quot; y=&quot;-150&quot; width=&quot;320&quot; height=&quot;60&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;BEy9TBvN1vAc2gqtKoeU-2&quot; value=&quot;Controllers&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#EAFFE9;strokeColor=#C73500;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;400&quot; y=&quot;910&quot; width=&quot;70&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;BEy9TBvN1vAc2gqtKoeU-3&quot; value=&quot;PX4&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#EDEDED;strokeColor=#B09500;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;680&quot; y=&quot;1030&quot; width=&quot;60&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;BEy9TBvN1vAc2gqtKoeU-9&quot; value=&quot;API&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#ffffff;strokeColor=#3700CC;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;750&quot; y=&quot;1070&quot; width=&quot;60&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;BEy9TBvN1vAc2gqtKoeU-7&quot; value=&quot;Rover Module&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#ffffff;strokeColor=#2D7600;&quot; parent=&quot;2vuHhvsrmV4_NiL_qObe-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;490&quot; y=&quot;930&quot; width=&quot;60&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;      &lt;/root&gt;&#10;    &lt;/mxGraphModel&gt;&#10;  &lt;/diagram&gt;&#10;  &lt;diagram name=&quot;Control Structur Rate&quot; id=&quot;2k4fHJD4rsUVZpyo7Zvg&quot;&gt;&#10;    &lt;mxGraphModel dx=&quot;2074&quot; dy=&quot;1230&quot; grid=&quot;1&quot; gridSize=&quot;10&quot; guides=&quot;1&quot; tooltips=&quot;1&quot; connect=&quot;1&quot; arrows=&quot;1&quot; fold=&quot;1&quot; page=&quot;1&quot; pageScale=&quot;1&quot; pageWidth=&quot;850&quot; pageHeight=&quot;1100&quot; math=&quot;1&quot; shadow=&quot;0&quot;&gt;&#10;      &lt;root&gt;&#10;        &lt;mxCell id=&quot;0&quot; /&gt;&#10;        &lt;mxCell id=&quot;1&quot; parent=&quot;0&quot; /&gt;&#10;        &lt;mxCell id=&quot;S_wkhzWiVQYgcYxMLeCS-2&quot; value=&quot;Steering Setpoint&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;1060&quot; y=&quot;550&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;S_wkhzWiVQYgcYxMLeCS-3&quot; value=&quot;Yaw Rate Error&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;802&quot; y=&quot;550&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;S_wkhzWiVQYgcYxMLeCS-4&quot; value=&quot;Yaw Rate Setpoint&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;650&quot; y=&quot;550&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;S_wkhzWiVQYgcYxMLeCS-7&quot; value=&quot;Yaw Rate PID&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=1;strokeColor=#006EAF;fillColor=#1ba1e2;fontColor=#ffffff;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;925&quot; y=&quot;560&quot; width=&quot;100&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;S_wkhzWiVQYgcYxMLeCS-12&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;&quot; parent=&quot;1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;661&quot; y=&quot;575&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;805.0000000000284&quot; y=&quot;575&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;S_wkhzWiVQYgcYxMLeCS-14&quot; value=&quot;Measured Yaw Rate&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;960&quot; y=&quot;610&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;S_wkhzWiVQYgcYxMLeCS-15&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;exitX=1;exitY=0.5;exitDx=0;exitDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;&quot; parent=&quot;1&quot; target=&quot;S_wkhzWiVQYgcYxMLeCS-7&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;824.9999999999716&quot; y=&quot;575&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;925&quot; y=&quot;610&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;S_wkhzWiVQYgcYxMLeCS-16&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;exitX=1;exitY=0.5;exitDx=0;exitDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;entryX=0;entryY=0.5;entryDx=0;entryDy=0;&quot; parent=&quot;1&quot; target=&quot;S_wkhzWiVQYgcYxMLeCS-17&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;1070&quot; y=&quot;575&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;1180&quot; y=&quot;575&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;S_wkhzWiVQYgcYxMLeCS-17&quot; value=&quot;Vehicle Dynamics&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=1;strokeColor=#006EAF;fillColor=#1ba1e2;fontColor=#ffffff;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;1190&quot; y=&quot;560&quot; width=&quot;110&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;S_wkhzWiVQYgcYxMLeCS-23&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=1;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;&quot; parent=&quot;1&quot; source=&quot;S_wkhzWiVQYgcYxMLeCS-17&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;1135&quot; y=&quot;630&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;815&quot; y=&quot;585&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;1245&quot; y=&quot;640&quot; /&gt;&#10;              &lt;mxPoint x=&quot;1030&quot; y=&quot;640&quot; /&gt;&#10;              &lt;mxPoint x=&quot;815&quot; y=&quot;640&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;uCIXk9wX_owyG5iXf6p9-1&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;exitX=1;exitY=0.5;exitDx=0;exitDy=0;&quot; parent=&quot;1&quot; source=&quot;uCIXk9wX_owyG5iXf6p9-6&quot; target=&quot;uCIXk9wX_owyG5iXf6p9-2&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;1120&quot; y=&quot;470&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;1170&quot; y=&quot;510&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;1060&quot; y=&quot;525&quot; /&gt;&#10;              &lt;mxPoint x=&quot;1060&quot; y=&quot;540&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;uCIXk9wX_owyG5iXf6p9-3&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;exitX=1;exitY=0.5;exitDx=0;exitDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;entryX=0;entryY=0.5;entryDx=0;entryDy=0;&quot; parent=&quot;1&quot; source=&quot;S_wkhzWiVQYgcYxMLeCS-7&quot; target=&quot;uCIXk9wX_owyG5iXf6p9-2&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;1070&quot; y=&quot;585&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;1190&quot; y=&quot;585&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;uCIXk9wX_owyG5iXf6p9-6&quot; value=&quot;Feed Forward Mapping&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=1;strokeColor=#006EAF;fillColor=#1ba1e2;fontColor=#ffffff;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;860&quot; y=&quot;510&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;uCIXk9wX_owyG5iXf6p9-7&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;&quot; parent=&quot;1&quot; target=&quot;uCIXk9wX_owyG5iXf6p9-6&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;776&quot; y=&quot;575&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;840&quot; y=&quot;470&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;776&quot; y=&quot;525&quot; /&gt;&#10;              &lt;mxPoint x=&quot;820&quot; y=&quot;525&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;uCIXk9wX_owyG5iXf6p9-13&quot; value=&quot;&quot; style=&quot;group&quot; parent=&quot;1&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;1048&quot; y=&quot;562&quot; width=&quot;22&quot; height=&quot;23&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;uCIXk9wX_owyG5iXf6p9-2&quot; value=&quot;&quot; style=&quot;ellipse;whiteSpace=wrap;html=1;aspect=fixed;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;uCIXk9wX_owyG5iXf6p9-13&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;2&quot; y=&quot;3&quot; width=&quot;20&quot; height=&quot;20&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;uCIXk9wX_owyG5iXf6p9-10&quot; value=&quot;&amp;lt;font color=&amp;quot;#006eaf&amp;quot;&amp;gt;+&amp;lt;/font&amp;gt;&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; parent=&quot;uCIXk9wX_owyG5iXf6p9-13&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;5&quot; width=&quot;15&quot; height=&quot;15&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;uCIXk9wX_owyG5iXf6p9-11&quot; value=&quot;&amp;lt;font color=&amp;quot;#006eaf&amp;quot;&amp;gt;+&amp;lt;/font&amp;gt;&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; parent=&quot;uCIXk9wX_owyG5iXf6p9-13&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;4&quot; width=&quot;15&quot; height=&quot;15&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;uCIXk9wX_owyG5iXf6p9-16&quot; value=&quot;&quot; style=&quot;group&quot; parent=&quot;1&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;802&quot; y=&quot;562&quot; width=&quot;22&quot; height=&quot;23&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;uCIXk9wX_owyG5iXf6p9-17&quot; value=&quot;&quot; style=&quot;ellipse;whiteSpace=wrap;html=1;aspect=fixed;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;uCIXk9wX_owyG5iXf6p9-16&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;2&quot; y=&quot;3&quot; width=&quot;20&quot; height=&quot;20&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;uCIXk9wX_owyG5iXf6p9-18&quot; value=&quot;&amp;lt;font color=&amp;quot;#006eaf&amp;quot;&amp;gt;+&amp;lt;/font&amp;gt;&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; parent=&quot;uCIXk9wX_owyG5iXf6p9-16&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;5&quot; width=&quot;15&quot; height=&quot;15&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;uCIXk9wX_owyG5iXf6p9-19&quot; value=&quot;&amp;lt;font color=&amp;quot;#006eaf&amp;quot;&amp;gt;-&amp;lt;/font&amp;gt;&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; parent=&quot;uCIXk9wX_owyG5iXf6p9-16&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;4&quot; y=&quot;10&quot; width=&quot;15&quot; height=&quot;15&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;      &lt;/root&gt;&#10;    &lt;/mxGraphModel&gt;&#10;  &lt;/diagram&gt;&#10;  &lt;diagram name=&quot;Control Structur Speed&quot; id=&quot;PZ4KR9-hgFdjI3M9Fdw6&quot;&gt;&#10;    &lt;mxGraphModel dx=&quot;988&quot; dy=&quot;586&quot; grid=&quot;1&quot; gridSize=&quot;10&quot; guides=&quot;1&quot; tooltips=&quot;1&quot; connect=&quot;1&quot; arrows=&quot;1&quot; fold=&quot;1&quot; page=&quot;1&quot; pageScale=&quot;1&quot; pageWidth=&quot;850&quot; pageHeight=&quot;1100&quot; math=&quot;1&quot; shadow=&quot;0&quot;&gt;&#10;      &lt;root&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-0&quot; /&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-0&quot; /&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-2&quot; value=&quot;Throttle Setpoint&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; vertex=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;1060&quot; y=&quot;550&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-3&quot; value=&quot;Speed Error&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; vertex=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;802&quot; y=&quot;550&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-4&quot; value=&quot;Speed Setpoint&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; vertex=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;650&quot; y=&quot;550&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-5&quot; value=&quot;Speed PID&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=1;strokeColor=#006EAF;fillColor=#1ba1e2;fontColor=#ffffff;&quot; vertex=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;925&quot; y=&quot;560&quot; width=&quot;100&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-6&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;&quot; edge=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;661&quot; y=&quot;575&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;805.0000000000284&quot; y=&quot;575&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-7&quot; value=&quot;Measured Speed&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; vertex=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;960&quot; y=&quot;610&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-8&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;exitX=1;exitY=0.5;exitDx=0;exitDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;&quot; edge=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-1&quot; target=&quot;Ocj6f7jCEs6AZPYwrtlz-5&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;824.9999999999716&quot; y=&quot;575&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;925&quot; y=&quot;610&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-9&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;exitX=1;exitY=0.5;exitDx=0;exitDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;entryX=0;entryY=0.5;entryDx=0;entryDy=0;&quot; edge=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-1&quot; target=&quot;Ocj6f7jCEs6AZPYwrtlz-10&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;1070&quot; y=&quot;575&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;1180&quot; y=&quot;575&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-10&quot; value=&quot;Vehicle Dynamics&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=1;strokeColor=#006EAF;fillColor=#1ba1e2;fontColor=#ffffff;&quot; vertex=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;1190&quot; y=&quot;560&quot; width=&quot;110&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-11&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=1;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;&quot; edge=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-1&quot; source=&quot;Ocj6f7jCEs6AZPYwrtlz-10&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;1135&quot; y=&quot;630&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;815&quot; y=&quot;585&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;1245&quot; y=&quot;640&quot; /&gt;&#10;              &lt;mxPoint x=&quot;1030&quot; y=&quot;640&quot; /&gt;&#10;              &lt;mxPoint x=&quot;815&quot; y=&quot;640&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-12&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;exitX=1;exitY=0.5;exitDx=0;exitDy=0;&quot; edge=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-1&quot; source=&quot;Ocj6f7jCEs6AZPYwrtlz-14&quot; target=&quot;Ocj6f7jCEs6AZPYwrtlz-17&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;1120&quot; y=&quot;470&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;1170&quot; y=&quot;510&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;1060&quot; y=&quot;525&quot; /&gt;&#10;              &lt;mxPoint x=&quot;1060&quot; y=&quot;540&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-13&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;exitX=1;exitY=0.5;exitDx=0;exitDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;entryX=0;entryY=0.5;entryDx=0;entryDy=0;&quot; edge=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-1&quot; source=&quot;Ocj6f7jCEs6AZPYwrtlz-5&quot; target=&quot;Ocj6f7jCEs6AZPYwrtlz-17&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;1070&quot; y=&quot;585&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;1190&quot; y=&quot;585&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-14&quot; value=&quot;Feed Forward Mapping&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=1;strokeColor=#006EAF;fillColor=#1ba1e2;fontColor=#ffffff;&quot; vertex=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;860&quot; y=&quot;510&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-15&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;&quot; edge=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-1&quot; target=&quot;Ocj6f7jCEs6AZPYwrtlz-14&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;776&quot; y=&quot;575&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;840&quot; y=&quot;470&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;776&quot; y=&quot;525&quot; /&gt;&#10;              &lt;mxPoint x=&quot;820&quot; y=&quot;525&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-16&quot; value=&quot;&quot; style=&quot;group&quot; vertex=&quot;1&quot; connectable=&quot;0&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;1048&quot; y=&quot;562&quot; width=&quot;22&quot; height=&quot;23&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-17&quot; value=&quot;&quot; style=&quot;ellipse;whiteSpace=wrap;html=1;aspect=fixed;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; vertex=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-16&quot;&gt;&#10;          &lt;mxGeometry x=&quot;2&quot; y=&quot;3&quot; width=&quot;20&quot; height=&quot;20&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-18&quot; value=&quot;&amp;lt;font color=&amp;quot;#006eaf&amp;quot;&amp;gt;+&amp;lt;/font&amp;gt;&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; vertex=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-16&quot;&gt;&#10;          &lt;mxGeometry y=&quot;5&quot; width=&quot;15&quot; height=&quot;15&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-19&quot; value=&quot;&amp;lt;font color=&amp;quot;#006eaf&amp;quot;&amp;gt;+&amp;lt;/font&amp;gt;&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; vertex=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-16&quot;&gt;&#10;          &lt;mxGeometry x=&quot;4&quot; width=&quot;15&quot; height=&quot;15&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-20&quot; value=&quot;&quot; style=&quot;group&quot; vertex=&quot;1&quot; connectable=&quot;0&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;802&quot; y=&quot;562&quot; width=&quot;22&quot; height=&quot;23&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-21&quot; value=&quot;&quot; style=&quot;ellipse;whiteSpace=wrap;html=1;aspect=fixed;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; vertex=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-20&quot;&gt;&#10;          &lt;mxGeometry x=&quot;2&quot; y=&quot;3&quot; width=&quot;20&quot; height=&quot;20&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-22&quot; value=&quot;&amp;lt;font color=&amp;quot;#006eaf&amp;quot;&amp;gt;+&amp;lt;/font&amp;gt;&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; vertex=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-20&quot;&gt;&#10;          &lt;mxGeometry y=&quot;5&quot; width=&quot;15&quot; height=&quot;15&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Ocj6f7jCEs6AZPYwrtlz-23&quot; value=&quot;&amp;lt;font color=&amp;quot;#006eaf&amp;quot;&amp;gt;-&amp;lt;/font&amp;gt;&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; vertex=&quot;1&quot; parent=&quot;Ocj6f7jCEs6AZPYwrtlz-20&quot;&gt;&#10;          &lt;mxGeometry x=&quot;4&quot; y=&quot;10&quot; width=&quot;15&quot; height=&quot;15&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;      &lt;/root&gt;&#10;    &lt;/mxGraphModel&gt;&#10;  &lt;/diagram&gt;&#10;  &lt;diagram name=&quot;Control Structure Attitude&quot; id=&quot;_ezmuywsJcj-oOEpBf4C&quot;&gt;&#10;    &lt;mxGraphModel dx=&quot;1430&quot; dy=&quot;848&quot; grid=&quot;1&quot; gridSize=&quot;10&quot; guides=&quot;1&quot; tooltips=&quot;1&quot; connect=&quot;1&quot; arrows=&quot;1&quot; fold=&quot;1&quot; page=&quot;1&quot; pageScale=&quot;1&quot; pageWidth=&quot;850&quot; pageHeight=&quot;1100&quot; math=&quot;1&quot; shadow=&quot;0&quot;&gt;&#10;      &lt;root&gt;&#10;        &lt;mxCell id=&quot;vckLw9t8J74chRQwHXHN-0&quot; /&gt;&#10;  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as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;vckLw9t8J74chRQwHXHN-4&quot; value=&quot;Yaw Rate Setpoint&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; vertex=&quot;1&quot; parent=&quot;vckLw9t8J74chRQwHXHN-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;650&quot; y=&quot;550&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;vckLw9t8J74chRQwHXHN-5&quot; value=&quot;Yaw Rate PID&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=1;strokeColor=#006EAF;fillColor=#1ba1e2;fontColor=#ffffff;&quot; vertex=&quot;1&quot; parent=&quot;vckLw9t8J74chRQwHXHN-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;925&quot; y=&quot;560&quot; width=&quot;100&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        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value=&quot;&quot; style=&quot;ellipse;whiteSpace=wrap;html=1;aspect=fixed;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; vertex=&quot;1&quot; parent=&quot;vckLw9t8J74chRQwHXHN-16&quot;&gt;&#10;          &lt;mxGeometry x=&quot;2&quot; y=&quot;3&quot; width=&quot;20&quot; height=&quot;20&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;vckLw9t8J74chRQwHXHN-18&quot; value=&quot;&amp;lt;font color=&amp;quot;#006eaf&amp;quot;&amp;gt;+&amp;lt;/font&amp;gt;&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; vertex=&quot;1&quot; parent=&quot;vckLw9t8J74chRQwHXHN-16&quot;&gt;&#10;          &lt;mxGeometry y=&quot;5&quot; width=&quot;15&quot; height=&quot;15&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;vckLw9t8J74chRQwHXHN-19&quot; value=&quot;&amp;lt;font 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vertex=&quot;1&quot; parent=&quot;vckLw9t8J74chRQwHXHN-20&quot;&gt;&#10;          &lt;mxGeometry x=&quot;2&quot; y=&quot;3&quot; width=&quot;20&quot; height=&quot;20&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;vckLw9t8J74chRQwHXHN-22&quot; value=&quot;&amp;lt;font color=&amp;quot;#006eaf&amp;quot;&amp;gt;+&amp;lt;/font&amp;gt;&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; vertex=&quot;1&quot; parent=&quot;vckLw9t8J74chRQwHXHN-20&quot;&gt;&#10;          &lt;mxGeometry y=&quot;5&quot; width=&quot;15&quot; height=&quot;15&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;vckLw9t8J74chRQwHXHN-23&quot; value=&quot;&amp;lt;font color=&amp;quot;#006eaf&amp;quot;&amp;gt;-&amp;lt;/font&amp;gt;&quot; 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id=&quot;iW8gtF9yU7UoRR5kszRJ-5&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;entryX=0;entryY=0.5;entryDx=0;entryDy=0;&quot; edge=&quot;1&quot; parent=&quot;vckLw9t8J74chRQwHXHN-1&quot; target=&quot;iW8gtF9yU7UoRR5kszRJ-7&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;350&quot; y=&quot;573&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;420&quot; y=&quot;610&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;iW8gtF9yU7UoRR5kszRJ-6&quot; value=&quot;&quot; style=&quot;group&quot; vertex=&quot;1&quot; connectable=&quot;0&quot; parent=&quot;vckLw9t8J74chRQwHXHN-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;440&quot; y=&quot;560&quot; width=&quot;22&quot; height=&quot;23&quot; 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style=&quot;ellipse;whiteSpace=wrap;html=1;aspect=fixed;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; vertex=&quot;1&quot; parent=&quot;FrdFTRkhaImAh8wmXF7R-29&quot;&gt;&#10;          &lt;mxGeometry x=&quot;2&quot; y=&quot;3&quot; width=&quot;20&quot; height=&quot;20&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;FrdFTRkhaImAh8wmXF7R-31&quot; value=&quot;&amp;lt;font color=&amp;quot;#006eaf&amp;quot;&amp;gt;+&amp;lt;/font&amp;gt;&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; vertex=&quot;1&quot; parent=&quot;FrdFTRkhaImAh8wmXF7R-29&quot;&gt;&#10;          &lt;mxGeometry x=&quot;3.5&quot; width=&quot;15&quot; height=&quot;15&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;FrdFTRkhaImAh8wmXF7R-2&quot; value=&quot;Steering Setpoint&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; vertex=&quot;1&quot; parent=&quot;FrdFTRkhaImAh8wmXF7R-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;1240&quot; y=&quot;590&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;FrdFTRkhaImAh8wmXF7R-3&quot; value=&quot;Yaw Rate Error&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; vertex=&quot;1&quot; parent=&quot;FrdFTRkhaImAh8wmXF7R-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;982&quot; y=&quot;590&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;FrdFTRkhaImAh8wmXF7R-4&quot; value=&quot;Yaw Rate Setpoint&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; vertex=&quot;1&quot; parent=&quot;FrdFTRkhaImAh8wmXF7R-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;830&quot; y=&quot;590&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;FrdFTRkhaImAh8wmXF7R-5&quot; value=&quot;Yaw Rate PID&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=1;strokeColor=#006EAF;fillColor=#1ba1e2;fontColor=#ffffff;&quot; vertex=&quot;1&quot; parent=&quot;FrdFTRkhaImAh8wmXF7R-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;1105&quot; y=&quot;600&quot; width=&quot;100&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;FrdFTRkhaImAh8wmXF7R-6&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;&quot; edge=&quot;1&quot; parent=&quot;FrdFTRkhaImAh8wmXF7R-1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;841&quot; y=&quot;615&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;985.0000000000284&quot; y=&quot;615&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;FrdFTRkhaImAh8wmXF7R-7&quot; value=&quot;Measured Yaw Rate&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; vertex=&quot;1&quot; parent=&quot;FrdFTRkhaImAh8wmXF7R-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;1140&quot; y=&quot;650&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;FrdFTRkhaImAh8wmXF7R-8&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;exitX=1;exitY=0.5;exitDx=0;exitDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;&quot; edge=&quot;1&quot; parent=&quot;FrdFTRkhaImAh8wmXF7R-1&quot; target=&quot;FrdFTRkhaImAh8wmXF7R-5&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;1004.9999999999716&quot; y=&quot;615&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;1105&quot; y=&quot;650&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;FrdFTRkhaImAh8wmXF7R-9&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;exitX=1;exitY=0.5;exitDx=0;exitDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;entryX=0;entryY=0.75;entryDx=0;entryDy=0;&quot; edge=&quot;1&quot; parent=&quot;FrdFTRkhaImAh8wmXF7R-1&quot; target=&quot;rvi66XmrsyLmnBYPE8ZC-1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;1250&quot; y=&quot;615&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;1370&quot; y=&quot;615&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;1370&quot; y=&quot;615&quot; /&gt;&#10;              &lt;mxPoint x=&quot;1370&quot; y=&quot;523&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;FrdFTRkhaImAh8wmXF7R-11&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;exitX=0.25;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=1;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=3;&quot; edge=&quot;1&quot; parent=&quot;FrdFTRkhaImAh8wmXF7R-1&quot; source=&quot;rvi66XmrsyLmnBYPE8ZC-0&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;1425&quot; y=&quot;630&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;995&quot; y=&quot;625&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;1648&quot; y=&quot;680&quot; /&gt;&#10;              &lt;mxPoint x=&quot;1210&quot; y=&quot;680&quot; /&gt;&#10;              &lt;mxPoint x=&quot;995&quot; y=&quot;680&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell 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color=&amp;quot;#006eaf&amp;quot;&amp;gt;-&amp;lt;/font&amp;gt;&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; vertex=&quot;1&quot; parent=&quot;FrdFTRkhaImAh8wmXF7R-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;624&quot; y=&quot;610&quot; width=&quot;15&quot; height=&quot;15&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;rvi66XmrsyLmnBYPE8ZC-7&quot; value=&quot;Measured Position&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#1BA1E2;strokeColor=none;&quot; vertex=&quot;1&quot; parent=&quot;FrdFTRkhaImAh8wmXF7R-1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;1130&quot; y=&quot;310&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;rvi66XmrsyLmnBYPE8ZC-8&quot; value=&quot;&quot; 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/&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;568TWfVKF9ZTtMS5vC8K-2&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=2;&quot; parent=&quot;1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;388&quot; y=&quot;591&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;259&quot; y=&quot;618&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;568TWfVKF9ZTtMS5vC8K-5&quot; value=&quot;&quot; style=&quot;endArrow=none;html=1;rounded=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=4;exitX=0.013;exitY=0.65;exitDx=0;exitDy=0;entryX=0.993;entryY=0.355;entryDx=0;entryDy=0;exitPerimeter=0;entryPerimeter=0;&quot; parent=&quot;1&quot; source=&quot;568TWfVKF9ZTtMS5vC8K-7&quot; target=&quot;568TWfVKF9ZTtMS5vC8K-6&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;350&quot; y=&quot;600&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;450&quot; y=&quot;480&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;568TWfVKF9ZTtMS5vC8K-6&quot; value=&quot;&amp;lt;font style=&amp;quot;font-size: 10px;&amp;quot;&amp;gt;Destination&amp;lt;/font&amp;gt;&quot; style=&quot;ellipse;whiteSpace=wrap;html=1;aspect=fixed;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;strokeWidth=4;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;580&quot; y=&quot;432&quot; width=&quot;60&quot; height=&quot;60&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;568TWfVKF9ZTtMS5vC8K-7&quot; value=&quot;&amp;lt;font style=&amp;quot;font-size: 10px;&amp;quot;&amp;gt;Start&amp;lt;/font&amp;gt;&quot; style=&quot;ellipse;whiteSpace=wrap;html=1;aspect=fixed;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;strokeWidth=4;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;100&quot; y=&quot;553&quot; width=&quot;60&quot; height=&quot;60&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;568TWfVKF9ZTtMS5vC8K-8&quot; value=&quot;&quot; style=&quot;group;rotation=90;&quot; parent=&quot;1&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;350&quot; y=&quot;550&quot; width=&quot;164.08&quot; height=&quot;135.63&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;568TWfVKF9ZTtMS5vC8K-9&quot; value=&quot;&quot; style=&quot;verticalLabelPosition=bottom;verticalAlign=top;html=1;shape=mxgraph.basic.arc;startAngle=0.11818324534853591;endAngle=0.28978533327278766;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;568TWfVKF9ZTtMS5vC8K-8&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-16.54&quot; y=&quot;-30&quot; width=&quot;126.54&quot; height=&quot;115.25&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;568TWfVKF9ZTtMS5vC8K-10&quot; value=&quot;&quot; style=&quot;group;rotation=15;&quot; parent=&quot;568TWfVKF9ZTtMS5vC8K-8&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-11.164179104477611&quot; y=&quot;-1.3045433704557263&quot; width=&quot;89.25&quot; height=&quot;83.22388059701493&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;568TWfVKF9ZTtMS5vC8K-11&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=4;rotation=105;fontColor=#ffffff;&quot; parent=&quot;568TWfVKF9ZTtMS5vC8K-10&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;2&quot; y=&quot;57&quot; width=&quot;15.223880597014926&quot; height=&quot;18.614793856103475&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;568TWfVKF9ZTtMS5vC8K-12&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=4;rotation=105;fontColor=#ffffff;&quot; parent=&quot;568TWfVKF9ZTtMS5vC8K-10&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;55&quot; y=&quot;73&quot; width=&quot;15.223880597014926&quot; height=&quot;18.614793856103475&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;568TWfVKF9ZTtMS5vC8K-13&quot; value=&quot;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;568TWfVKF9ZTtMS5vC8K-10&quot; source=&quot;568TWfVKF9ZTtMS5vC8K-14&quot; target=&quot;568TWfVKF9ZTtMS5vC8K-12&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;568TWfVKF9ZTtMS5vC8K-14&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=4;rotation=105;fontColor=#ffffff;&quot; parent=&quot;568TWfVKF9ZTtMS5vC8K-10&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;71&quot; y=&quot;6&quot; width=&quot;15.223880597014926&quot; height=&quot;18.614793856103475&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;568TWfVKF9ZTtMS5vC8K-15&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=4;rotation=105;fontColor=#ffffff;&quot; parent=&quot;568TWfVKF9ZTtMS5vC8K-10&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;18&quot; y=&quot;-8&quot; width=&quot;15.223880597014926&quot; height=&quot;18.614793856103475&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;568TWfVKF9ZTtMS5vC8K-16&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=4;fontColor=#ffffff;rotation=105;&quot; parent=&quot;568TWfVKF9ZTtMS5vC8K-10&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;11&quot; y=&quot;-3&quot; width=&quot;66.92164179104478&quot; height=&quot;89.25&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;568TWfVKF9ZTtMS5vC8K-17&quot; value=&quot;&quot; style=&quot;ellipse;whiteSpace=wrap;html=1;aspect=fixed;fillColor=#a20025;fontColor=#ffffff;strokeColor=#6F0000;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;467.99999999999994&quot; y=&quot;486&quot; width=&quot;20&quot; height=&quot;20&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;568TWfVKF9ZTtMS5vC8K-18&quot; value=&quot;$$l_d$$&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;fontColor=#1BA1E2;rotation=-12.4;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;270&quot; y=&quot;583&quot; width=&quot;70&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;568TWfVKF9ZTtMS5vC8K-19&quot; value=&quot;$$\alpha$$&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;fontColor=#1BA1E2;rotation=0;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;401&quot; y=&quot;550&quot; width=&quot;80&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;WPxjeNNxSJsQ3On8NMb2-1&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;strokeWidth=2;rounded=0;fillColor=#008a00;strokeColor=#005700;jumpSize=6;entryX=0.5;entryY=0;entryDx=0;entryDy=0;endFill=1;&quot; parent=&quot;1&quot; target=&quot;568TWfVKF9ZTtMS5vC8K-1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;387&quot; y=&quot;590&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;529&quot; y=&quot;601&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;568TWfVKF9ZTtMS5vC8K-4&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;strokeWidth=2;rounded=0;fillColor=#008a00;strokeColor=#005700;jumpSize=6;entryX=1;entryY=0.5;entryDx=0;entryDy=0;endFill=1;&quot; parent=&quot;1&quot; target=&quot;568TWfVKF9ZTtMS5vC8K-1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;386&quot; y=&quot;591&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;494&quot; y=&quot;616&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;WPxjeNNxSJsQ3On8NMb2-2&quot; value=&quot;N&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;fontColor=#005700;rotation=0;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;371&quot; y=&quot;430&quot; width=&quot;30&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;WPxjeNNxSJsQ3On8NMb2-3&quot; value=&quot;S&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;fontColor=#005700;rotation=0;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;514.08&quot; y=&quot;576.14&quot; width=&quot;30&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;568TWfVKF9ZTtMS5vC8K-3&quot; value=&quot;&quot; style=&quot;endArrow=none;html=1;strokeWidth=2;rounded=0;fillColor=#a20025;strokeColor=#6F0000;endSize=6;startSize=6;jumpSize=6;dashed=1;entryX=1;entryY=0;entryDx=0;entryDy=0;&quot; parent=&quot;1&quot; target=&quot;568TWfVKF9ZTtMS5vC8K-17&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;387&quot; y=&quot;590&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;456&quot; y=&quot;495&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;      &lt;/root&gt;&#10;    &lt;/mxGraphModel&gt;&#10;  &lt;/diagram&gt;&#10;  &lt;diagram id=&quot;iSLh2PGDStjhlYR7PziA&quot; name=&quot;Pure Pursuit Omnidirectional&quot;&gt;&#10;    &lt;mxGraphModel dx=&quot;2074&quot; dy=&quot;1230&quot; grid=&quot;1&quot; gridSize=&quot;10&quot; guides=&quot;1&quot; tooltips=&quot;1&quot; connect=&quot;1&quot; arrows=&quot;1&quot; fold=&quot;1&quot; page=&quot;1&quot; pageScale=&quot;1&quot; pageWidth=&quot;850&quot; pageHeight=&quot;1100&quot; math=&quot;1&quot; shadow=&quot;0&quot;&gt;&#10;      &lt;root&gt;&#10;        &lt;mxCell id=&quot;0&quot; /&gt;&#10;        &lt;mxCell id=&quot;1&quot; parent=&quot;0&quot; /&gt;&#10;        &lt;mxCell id=&quot;CSpxwhzmDUrgqSROreJt-1&quot; value=&quot;&quot; style=&quot;ellipse;whiteSpace=wrap;html=1;aspect=fixed;fillColor=none;fontColor=#ffffff;strokeColor=#006EAF;strokeWidth=4;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;253&quot; y=&quot;458&quot; width=&quot;266.27&quot; height=&quot;266.27&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;CSpxwhzmDUrgqSROreJt-2&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=2;&quot; parent=&quot;1&quot; 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as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;      &lt;/root&gt;&#10;    &lt;/mxGraphModel&gt;&#10;  &lt;/diagram&gt;&#10;  &lt;diagram name=&quot;Differential Cornering Logic&quot; id=&quot;MnupLpeY01r6ZKvS-zgm&quot;&gt;&#10;    &lt;mxGraphModel dx=&quot;2074&quot; dy=&quot;1230&quot; grid=&quot;1&quot; gridSize=&quot;10&quot; guides=&quot;1&quot; tooltips=&quot;1&quot; connect=&quot;1&quot; arrows=&quot;1&quot; fold=&quot;1&quot; page=&quot;1&quot; pageScale=&quot;1&quot; pageWidth=&quot;850&quot; pageHeight=&quot;1100&quot; math=&quot;1&quot; shadow=&quot;0&quot;&gt;&#10;      &lt;root&gt;&#10;        &lt;mxCell id=&quot;0&quot; /&gt;&#10;        &lt;mxCell id=&quot;1&quot; parent=&quot;0&quot; /&gt;&#10;        &lt;mxCell id=&quot;QvW7ic_eyaEvOY-VzHVR-4&quot; value=&quot;&quot; style=&quot;endArrow=none;html=1;rounded=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=4;exitX=0.052;exitY=0.257;exitDx=0;exitDy=0;entryX=0.957;entryY=0.717;entryDx=0;entryDy=0;exitPerimeter=0;entryPerimeter=0;&quot; parent=&quot;1&quot; source=&quot;QvW7ic_eyaEvOY-VzHVR-2&quot; target=&quot;QvW7ic_eyaEvOY-VzHVR-5&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;232&quot; y=&quot;442&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;581&quot; y=&quot;330&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;kRLnvJtwO2QzNPCpfgRD-7&quot; value=&quot;&quot; style=&quot;verticalLabelPosition=bottom;verticalAlign=top;html=1;shape=mxgraph.basic.arc;startAngle=0.18309041025379919;endAngle=0.33054433198366223;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;269&quot; y=&quot;290&quot; width=&quot;83&quot; height=&quot;96&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;kRLnvJtwO2QzNPCpfgRD-14&quot; value=&quot;&amp;lt;font color=&amp;quot;#4d9900&amp;quot;&amp;gt;Slow down disabled&amp;lt;/font&amp;gt;&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;199&quot; y=&quot;451&quot; width=&quot;137&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;kRLnvJtwO2QzNPCpfgRD-15&quot; value=&quot;&amp;lt;font color=&amp;quot;#cc0000&amp;quot;&amp;gt;Slow down enabled&amp;lt;/font&amp;gt;&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;522&quot; y=&quot;451&quot; width=&quot;112&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;kRLnvJtwO2QzNPCpfgRD-16&quot; value=&quot;&amp;lt;font color=&amp;quot;#1ba1e2&amp;quot;&amp;gt;\(\theta\) &amp;amp;lt; RD_TRANS_DRV_TRN&amp;lt;/font&amp;gt;&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;144&quot; y=&quot;423&quot; width=&quot;251&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;kRLnvJtwO2QzNPCpfgRD-17&quot; value=&quot;&amp;lt;font color=&amp;quot;#1ba1e2&amp;quot;&amp;gt;\(\theta\) &amp;amp;gt; RD_TRANS_DRV_TRN&amp;lt;/font&amp;gt;&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;463&quot; y=&quot;423&quot; width=&quot;227&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;kRLnvJtwO2QzNPCpfgRD-18&quot; value=&quot;&quot; style=&quot;endArrow=none;html=1;rounded=0;exitX=0.976;exitY=0.36;exitDx=0;exitDy=0;exitPerimeter=0;dashed=1;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;&quot; parent=&quot;1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;259&quot; y=&quot;347&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;409&quot; y=&quot;300&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;kRLnvJtwO2QzNPCpfgRD-20&quot; value=&quot;&amp;lt;font color=&amp;quot;#1ba1e2&amp;quot;&amp;gt;$$\theta$$&amp;lt;/font&amp;gt;&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;292&quot; y=&quot;325&quot; width=&quot;80&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;QvW7ic_eyaEvOY-VzHVR-1&quot; value=&quot;&quot; style=&quot;endArrow=none;html=1;rounded=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=4;exitX=0.013;exitY=0.65;exitDx=0;exitDy=0;entryX=0.993;entryY=0.355;entryDx=0;entryDy=0;exitPerimeter=0;entryPerimeter=0;&quot; parent=&quot;1&quot; source=&quot;QvW7ic_eyaEvOY-VzHVR-3&quot; target=&quot;QvW7ic_eyaEvOY-VzHVR-2&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;352&quot; y=&quot;400&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;452&quot; y=&quot;280&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;QvW7ic_eyaEvOY-VzHVR-2&quot; value=&quot;Current Waypoint&quot; style=&quot;ellipse;whiteSpace=wrap;html=1;aspect=fixed;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;strokeWidth=4;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;256&quot; y=&quot;310&quot; width=&quot;60&quot; height=&quot;60&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;QvW7ic_eyaEvOY-VzHVR-3&quot; value=&quot;Previous&amp;lt;div&amp;gt;Waypoint&amp;lt;/div&amp;gt;&quot; style=&quot;ellipse;whiteSpace=wrap;html=1;aspect=fixed;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;strokeWidth=4;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;102&quot; y=&quot;353&quot; width=&quot;60&quot; height=&quot;60&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;QvW7ic_eyaEvOY-VzHVR-5&quot; value=&quot;Next Waypoint&quot; style=&quot;ellipse;whiteSpace=wrap;html=1;aspect=fixed;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;strokeWidth=4;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;385&quot; y=&quot;360&quot; width=&quot;60&quot; height=&quot;60&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;QvW7ic_eyaEvOY-VzHVR-10&quot; value=&quot;&quot; style=&quot;endArrow=none;html=1;rounded=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=4;&quot; parent=&quot;1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;563&quot; y=&quot;289&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;677&quot; y=&quot;416&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;QvW7ic_eyaEvOY-VzHVR-11&quot; value=&quot;&quot; style=&quot;verticalLabelPosition=bottom;verticalAlign=top;html=1;shape=mxgraph.basic.arc;startAngle=0.09403058417655055;endAngle=0.4159543412124187;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;553&quot; y=&quot;257&quot; width=&quot;83&quot; height=&quot;96&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;QvW7ic_eyaEvOY-VzHVR-12&quot; value=&quot;&quot; style=&quot;endArrow=none;html=1;rounded=0;exitX=0.976;exitY=0.36;exitDx=0;exitDy=0;exitPerimeter=0;dashed=1;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;&quot; parent=&quot;1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;561&quot; y=&quot;330&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;633&quot; y=&quot;243&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;QvW7ic_eyaEvOY-VzHVR-13&quot; value=&quot;&amp;lt;font color=&amp;quot;#1ba1e2&amp;quot;&amp;gt;$$\theta$$&amp;lt;/font&amp;gt;&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;582&quot; y=&quot;294&quot; width=&quot;80&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;QvW7ic_eyaEvOY-VzHVR-14&quot; value=&quot;&quot; style=&quot;endArrow=none;html=1;rounded=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=4;&quot; parent=&quot;1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;483&quot; y=&quot;415&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;601&quot; y=&quot;288&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;QvW7ic_eyaEvOY-VzHVR-15&quot; value=&quot;Current Waypoint&quot; style=&quot;ellipse;whiteSpace=wrap;html=1;aspect=fixed;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;strokeWidth=4;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;552&quot; y=&quot;280&quot; width=&quot;60&quot; height=&quot;60&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;QvW7ic_eyaEvOY-VzHVR-16&quot; value=&quot;Previous&amp;lt;div&amp;gt;Waypoint&amp;lt;/div&amp;gt;&quot; style=&quot;ellipse;whiteSpace=wrap;html=1;aspect=fixed;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;strokeWidth=4;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;473&quot; y=&quot;363&quot; width=&quot;60&quot; height=&quot;60&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;QvW7ic_eyaEvOY-VzHVR-17&quot; value=&quot;Next Waypoint&quot; style=&quot;ellipse;whiteSpace=wrap;html=1;aspect=fixed;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;strokeWidth=4;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;630&quot; y=&quot;365&quot; width=&quot;60&quot; height=&quot;60&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;      &lt;/root&gt;&#10;    &lt;/mxGraphModel&gt;&#10;  &lt;/diagram&gt;&#10;  &lt;diagram id=&quot;wd-11vJd_mXLoLYKZLQw&quot; name=&quot;Differential State Machine&quot;&gt;&#10;    &lt;mxGraphModel dx=&quot;2074&quot; dy=&quot;1230&quot; grid=&quot;1&quot; gridSize=&quot;10&quot; guides=&quot;1&quot; tooltips=&quot;1&quot; connect=&quot;1&quot; arrows=&quot;1&quot; fold=&quot;1&quot; page=&quot;1&quot; pageScale=&quot;1&quot; pageWidth=&quot;850&quot; pageHeight=&quot;1100&quot; math=&quot;1&quot; shadow=&quot;0&quot;&gt;&#10;      &lt;root&gt;&#10;        &lt;mxCell id=&quot;0&quot; /&gt;&#10;        &lt;mxCell id=&quot;1&quot; parent=&quot;0&quot; /&gt;&#10;        &lt;mxCell id=&quot;OY1TfH9GywBMDXP1trZt-1&quot; value=&quot;TURN ON SPOT&quot; style=&quot;ellipse;whiteSpace=wrap;html=1;aspect=fixed;fillColor=#1BA1E2;labelBackgroundColor=none;fontColor=#ffffff;strokeColor=#006EAF;strokeWidth=4;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;440&quot; y=&quot;360&quot; width=&quot;80&quot; height=&quot;80&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;OY1TfH9GywBMDXP1trZt-2&quot; value=&quot;DRIVING&quot; style=&quot;ellipse;whiteSpace=wrap;html=1;aspect=fixed;fillColor=#1ba1e2;labelBackgroundColor=none;fontColor=#ffffff;strokeColor=#006EAF;strokeWidth=4;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;180&quot; y=&quot;360&quot; width=&quot;80&quot; height=&quot;80&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;OY1TfH9GywBMDXP1trZt-4&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;exitX=1;exitY=0;exitDx=0;exitDy=0;entryX=0;entryY=0;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=2;&quot; parent=&quot;1&quot; source=&quot;OY1TfH9GywBMDXP1trZt-2&quot; target=&quot;OY1TfH9GywBMDXP1trZt-1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;312&quot; y=&quot;456&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;362&quot; y=&quot;406&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;OY1TfH9GywBMDXP1trZt-5&quot; value=&quot;&amp;lt;font color=&amp;quot;#1ba1e2&amp;quot; face=&amp;quot;Helvetica&amp;quot; style=&amp;quot;font-size: 12px;&amp;quot;&amp;gt;Bearing error&amp;amp;nbsp;&amp;lt;/font&amp;gt;&amp;lt;div style=&amp;quot;font-size: 12px;&amp;quot;&amp;gt;&amp;lt;font color=&amp;quot;#1ba1e2&amp;quot; face=&amp;quot;Helvetica&amp;quot; style=&amp;quot;font-size: 12px;&amp;quot;&amp;gt;&amp;amp;gt;&amp;lt;/font&amp;gt;&amp;lt;div&amp;gt;&amp;lt;font color=&amp;quot;#1ba1e2&amp;quot;&amp;gt;RD_TRANS_DRV_TRN&amp;lt;/font&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;/div&amp;gt;&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;OY1TfH9GywBMDXP1trZt-4&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.2157&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-22&quot; y=&quot;-32&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;OY1TfH9GywBMDXP1trZt-6&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;exitX=0;exitY=1;exitDx=0;exitDy=0;entryX=1;entryY=1;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=2;&quot; parent=&quot;1&quot; source=&quot;OY1TfH9GywBMDXP1trZt-1&quot; target=&quot;OY1TfH9GywBMDXP1trZt-2&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;308&quot; y=&quot;382&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;413&quot; y=&quot;382&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;OY1TfH9GywBMDXP1trZt-7&quot; value=&quot;&amp;lt;div style=&amp;quot;font-size: 12px;&amp;quot;&amp;gt;&amp;lt;font color=&amp;quot;#1ba1e2&amp;quot; face=&amp;quot;Helvetica&amp;quot; style=&amp;quot;font-size: 12px;&amp;quot;&amp;gt;Bearing 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id=&quot;kj2ZvnXEMcxA6Qcxojb6-7&quot; value=&quot;Previous&amp;lt;div&amp;gt;Waypoint&amp;lt;/div&amp;gt;&quot; style=&quot;ellipse;whiteSpace=wrap;html=1;aspect=fixed;fillColor=#1BA1E2;fontColor=#ffffff;strokeColor=#006EAF;strokeWidth=4;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;255&quot; y=&quot;465&quot; width=&quot;60&quot; height=&quot;60&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;kj2ZvnXEMcxA6Qcxojb6-16&quot; value=&quot;&quot; style=&quot;endArrow=none;html=1;rounded=0;fillColor=#60a917;strokeColor=#2D7600;strokeWidth=4;&quot; parent=&quot;1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;270&quot; y=&quot;233&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;440&quot; y=&quot;316&quot; as=&quot;targetPoint&quot; 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background-color: rgb(27, 29, 30); text-decoration-thickness: initial; text-decoration-style: initial; text-decoration-color: initial; display: inline !important; float: none;&amp;quot;&amp;gt;$$\vec b$$&amp;lt;/span&amp;gt;&quot; style=&quot;text;whiteSpace=wrap;html=1;rotation=27;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;390&quot; y=&quot;271&quot; width=&quot;90&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;kj2ZvnXEMcxA6Qcxojb6-20&quot; value=&quot;&amp;lt;font color=&amp;quot;#2d7600&amp;quot;&amp;gt;Idea Path&amp;lt;/font&amp;gt;&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;rotation=-29.4;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;362&quot; y=&quot;440&quot; width=&quot;70&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10; 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as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;1K2yndPmcgoGYPN3R7zL-2&quot; value=&quot;Acceptance Radius&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;710&quot; y=&quot;390&quot; width=&quot;60&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;1K2yndPmcgoGYPN3R7zL-3&quot; value=&quot;&quot; style=&quot;rhombus;whiteSpace=wrap;html=1;fillColor=#008a00;fontColor=#ffffff;strokeColor=#005700;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;625&quot; y=&quot;515&quot; width=&quot;40&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;lczq71NahwMOYuFlcn94-6&quot; value=&quot;&quot; style=&quot;group;rotation=90;&quot; parent=&quot;1&quot; 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vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;31.927686567164177&quot; y=&quot;114.32012934518997&quot; width=&quot;24.71820895522388&quot; height=&quot;33.21463217461601&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;lczq71NahwMOYuFlcn94-3&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=4;fontColor=#ffffff;rotation=90;&quot; parent=&quot;lczq71NahwMOYuFlcn94-6&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;31.927686567164177&quot; y=&quot;1.0299110751818916&quot; width=&quot;24.71820895522388&quot; height=&quot;33.21463217461601&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;lczq71NahwMOYuFlcn94-4&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=4;fontColor=#ffffff;rotation=90;&quot; parent=&quot;lczq71NahwMOYuFlcn94-6&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-62.82544776119403&quot; y=&quot;1.0299110751818916&quot; width=&quot;24.71820895522388&quot; height=&quot;33.21463217461601&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;lczq71NahwMOYuFlcn94-5&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=4;fontColor=#ffffff;rotation=90;&quot; parent=&quot;lczq71NahwMOYuFlcn94-6&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-57.16085820895522&quot; y=&quot;-3.089733225545675&quot; width=&quot;108.65712686567164&quot; height=&quot;159.25&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;lczq71NahwMOYuFlcn94-7&quot; value=&quot;&quot; style=&quot;rhombus;whiteSpace=wrap;html=1;fillColor=#a20025;fontColor=#ffffff;strokeColor=#6F0000;&quot; parent=&quot;1&quot; 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as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;400&quot; y=&quot;280&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oDuzQui8UTRX1u1LC_tz-3&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;strokeWidth=4;fillColor=#fa6800;strokeColor=#C73500;&quot; parent=&quot;1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;400&quot; y=&quot;560&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;680&quot; y=&quot;560&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oDuzQui8UTRX1u1LC_tz-4&quot; value=&quot;&quot; style=&quot;endArrow=none;html=1;rounded=0;strokeWidth=4;fillColor=#fa6800;strokeColor=#C73500;&quot; parent=&quot;1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;400&quot; y=&quot;560&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;120&quot; y=&quot;560&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oDuzQui8UTRX1u1LC_tz-5&quot; value=&quot;&quot; style=&quot;endArrow=none;html=1;rounded=0;strokeWidth=4;fillColor=#fa6800;strokeColor=#C73500;&quot; parent=&quot;1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;400&quot; y=&quot;560&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;400&quot; y=&quot;840&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oDuzQui8UTRX1u1LC_tz-6&quot; value=&quot;Stick&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontColor=#C73500;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;683&quot; y=&quot;545&quot; width=&quot;60&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oDuzQui8UTRX1u1LC_tz-7&quot; value=&quot;Yaw Setpoint&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontColor=#C73500;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;370&quot; y=&quot;240&quot; width=&quot;60&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oDuzQui8UTRX1u1LC_tz-8&quot; value=&quot;&quot; style=&quot;endArrow=none;html=1;rounded=0;fillColor=#008a00;strokeColor=#005700;strokeWidth=4;&quot; parent=&quot;1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;160&quot; y=&quot;800&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;640&quot; y=&quot;320&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oDuzQui8UTRX1u1LC_tz-9&quot; value=&quot;Default&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#005700;strokeColor=none;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;640&quot; y=&quot;305&quot; width=&quot;60&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oDuzQui8UTRX1u1LC_tz-10&quot; value=&quot;&quot; style=&quot;endArrow=none;dashed=1;html=1;dashPattern=1 3;strokeWidth=2;rounded=0;fillColor=#fa6800;strokeColor=#C73500;&quot; parent=&quot;1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;400&quot; y=&quot;320&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;640&quot; y=&quot;320&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oDuzQui8UTRX1u1LC_tz-11&quot; value=&quot;&quot; style=&quot;endArrow=none;dashed=1;html=1;dashPattern=1 3;strokeWidth=2;rounded=0;fillColor=#fa6800;strokeColor=#C73500;&quot; parent=&quot;1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;640&quot; y=&quot;560&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;640&quot; y=&quot;320&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oDuzQui8UTRX1u1LC_tz-12&quot; value=&quot;&quot; style=&quot;endArrow=none;dashed=1;html=1;dashPattern=1 3;strokeWidth=2;rounded=0;fillColor=#fa6800;strokeColor=#C73500;&quot; parent=&quot;1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;400&quot; y=&quot;800&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;160&quot; y=&quot;802.2857142857143&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oDuzQui8UTRX1u1LC_tz-13&quot; value=&quot;&quot; style=&quot;endArrow=none;dashed=1;html=1;dashPattern=1 3;strokeWidth=2;rounded=0;fillColor=#fa6800;strokeColor=#C73500;&quot; parent=&quot;1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;160&quot; y=&quot;800&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;160&quot; y=&quot;560&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oDuzQui8UTRX1u1LC_tz-14&quot; value=&quot;1&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontColor=#C73500;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;357&quot; y=&quot;305&quot; width=&quot;60&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oDuzQui8UTRX1u1LC_tz-15&quot; value=&quot;1&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontColor=#C73500;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;609&quot; y=&quot;564&quot; width=&quot;60&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oDuzQui8UTRX1u1LC_tz-16&quot; value=&quot;-1&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontColor=#C73500;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;388&quot; y=&quot;783&quot; width=&quot;60&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oDuzQui8UTRX1u1LC_tz-17&quot; value=&quot;-1&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontColor=#C73500;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;129&quot; y=&quot;526&quot; width=&quot;60&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oDuzQui8UTRX1u1LC_tz-20&quot; value=&quot;&amp;lt;font color=&amp;quot;#6f0000&amp;quot;&amp;gt;Scalar&amp;lt;/font&amp;gt;&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#005700;strokeColor=none;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;637&quot; y=&quot;383&quot; width=&quot;60&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oDuzQui8UTRX1u1LC_tz-22&quot; value=&quot;&quot; style=&quot;verticalLabelPosition=bottom;verticalAlign=top;html=1;shape=mxgraph.basic.arc;startAngle=0.2484085036175459;endAngle=0.4935729930615994;strokeWidth=3;fillColor=#0050ef;fontColor=#ffffff;strokeColor=#001DBC;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;140&quot; y=&quot;87&quot; width=&quot;498&quot; height=&quot;473&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oDuzQui8UTRX1u1LC_tz-23&quot; value=&quot;&quot; style=&quot;endArrow=none;dashed=1;html=1;dashPattern=1 3;strokeWidth=2;rounded=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;fillColor=#fa6800;strokeColor=#C73500;&quot; parent=&quot;1&quot; target=&quot;oDuzQui8UTRX1u1LC_tz-20&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;400&quot; y=&quot;398&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;610&quot; y=&quot;397.71&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oDuzQui8UTRX1u1LC_tz-24&quot; value=&quot;&quot; style=&quot;endArrow=none;dashed=1;html=1;dashPattern=1 3;strokeWidth=2;rounded=0;fillColor=#fa6800;strokeColor=#C73500;&quot; parent=&quot;1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;160&quot; y=&quot;720&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;400&quot; y=&quot;720&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oDuzQui8UTRX1u1LC_tz-26&quot; value=&quot;&amp;lt;font color=&amp;quot;#001dbc&amp;quot;&amp;gt;Exponential&amp;lt;/font&amp;gt;&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fillColor=none;fontColor=#005700;strokeColor=none;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;652&quot; y=&quot;344&quot; width=&quot;60&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oDuzQui8UTRX1u1LC_tz-27&quot; value=&quot;&quot; style=&quot;verticalLabelPosition=bottom;verticalAlign=top;html=1;shape=mxgraph.basic.arc;startAngle=0.2484085036175459;endAngle=0.4935729930615994;strokeWidth=3;fillColor=#0050ef;fontColor=#ffffff;strokeColor=#001DBC;rotation=-180;&quot; parent=&quot;1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;159&quot; y=&quot;560&quot; width=&quot;498&quot; height=&quot;473&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;oDuzQui8UTRX1u1LC_tz-19&quot; value=&quot;&quot; style=&quot;endArrow=none;html=1;rounded=0;fillColor=#a20025;strokeColor=#6F0000;strokeWidth=4;&quot; parent=&quot;1&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;160&quot; y=&quot;720&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;640&quot; y=&quot;400&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;      &lt;/root&gt;&#10;    &lt;/mxGraphModel&gt;&#10;  &lt;/diagram&gt;&#10;  &lt;diagram name=&quot;Boat Module Structure&quot; id=&quot;WvLEs0dtgMEKyBhQiFOo&quot;&gt;&#10;    &lt;mxGraphModel dx=&quot;2924&quot; dy=&quot;1230&quot; grid=&quot;1&quot; gridSize=&quot;10&quot; guides=&quot;1&quot; tooltips=&quot;1&quot; connect=&quot;1&quot; arrows=&quot;1&quot; fold=&quot;1&quot; page=&quot;1&quot; pageScale=&quot;1&quot; pageWidth=&quot;850&quot; pageHeight=&quot;1100&quot; math=&quot;0&quot; shadow=&quot;0&quot;&gt;&#10;      &lt;root&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-0&quot; /&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-1&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-0&quot; /&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-2&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; source=&quot;pnEmLNOugJnBFrobNyRs-16&quot; target=&quot;pnEmLNOugJnBFrobNyRs-7&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;425&quot; y=&quot;310&quot; /&gt;&#10;              &lt;mxPoint x=&quot;305&quot; y=&quot;310&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-3&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=2;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; source=&quot;pnEmLNOugJnBFrobNyRs-16&quot; target=&quot;pnEmLNOugJnBFrobNyRs-11&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;425&quot; y=&quot;310&quot; /&gt;&#10;              &lt;mxPoint x=&quot;560&quot; y=&quot;310&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-4&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;dashed=1;dashPattern=1 1;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; source=&quot;pnEmLNOugJnBFrobNyRs-5&quot; target=&quot;pnEmLNOugJnBFrobNyRs-16&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-5&quot; value=&quot;Position Setpoint&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;365&quot; y=&quot;170&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-6&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;fillColor=#1ba1e2;strokeColor=#006EAF;strokeWidth=2;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; source=&quot;pnEmLNOugJnBFrobNyRs-18&quot; target=&quot;pnEmLNOugJnBFrobNyRs-9&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-7&quot; value=&quot;Speed Setpoint&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;245&quot; y=&quot;360&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-8&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;dashed=1;dashPattern=1 1;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; source=&quot;pnEmLNOugJnBFrobNyRs-9&quot; target=&quot;pnEmLNOugJnBFrobNyRs-25&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;305&quot; y=&quot;710&quot; /&gt;&#10;              &lt;mxPoint x=&quot;425&quot; y=&quot;710&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-9&quot; value=&quot;Throttle Setpoint&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;245&quot; y=&quot;500&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-10&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; source=&quot;pnEmLNOugJnBFrobNyRs-20&quot; target=&quot;pnEmLNOugJnBFrobNyRs-13&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-11&quot; value=&quot;Attitude Setpoint&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;500&quot; y=&quot;360&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-12&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; source=&quot;pnEmLNOugJnBFrobNyRs-22&quot; target=&quot;pnEmLNOugJnBFrobNyRs-14&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-13&quot; value=&quot;Rate Setpoint&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;500&quot; y=&quot;500&quot; 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parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; source=&quot;pnEmLNOugJnBFrobNyRs-11&quot; target=&quot;pnEmLNOugJnBFrobNyRs-20&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;560&quot; y=&quot;390&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;560&quot; y=&quot;460&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-20&quot; value=&quot;Attitude Controller&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#008a00;fontColor=#ffffff;strokeColor=#005700;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;500&quot; y=&quot;430&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-21&quot; value=&quot;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;dashed=1;dashPattern=1 1;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; source=&quot;pnEmLNOugJnBFrobNyRs-13&quot; target=&quot;pnEmLNOugJnBFrobNyRs-22&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;560&quot; y=&quot;490&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;560&quot; y=&quot;580&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-22&quot; value=&quot;Rate Controller&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#008a00;fontColor=#ffffff;strokeColor=#005700;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;     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as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;425&quot; y=&quot;740&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-24&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeWidth=2;fillColor=#1ba1e2;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; source=&quot;pnEmLNOugJnBFrobNyRs-25&quot; target=&quot;pnEmLNOugJnBFrobNyRs-15&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pnEmLNOugJnBFrobNyRs-25&quot; value=&quot;Actuator Controller&quot; style=&quot;rounded=0;whiteSpace=wrap;html=1;fillColor=#008a00;fontColor=#ffffff;strokeColor=#005700;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;365&quot; y=&quot;760&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-0&quot; value=&quot;Position Setpoint&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;600&quot; y=&quot;130&quot; width=&quot;210&quot; height=&quot;180&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxRectangle x=&quot;660&quot; y=&quot;170&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;alternateBounds&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-1&quot; value=&quot;position_ned&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;V4iDnHv-aVBngZQXmENo-0&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-2&quot; value=&quot;(Optional)&amp;amp;nbsp;start_ned&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;V4iDnHv-aVBngZQXmENo-0&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;60&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-3&quot; value=&quot;(Optional)&amp;amp;nbsp;cruising_speed&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;V4iDnHv-aVBngZQXmENo-0&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;90&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-4&quot; value=&quot;(Optional)&amp;amp;nbsp;arrival_speed&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;V4iDnHv-aVBngZQXmENo-0&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;120&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;QTT8W0PznRa5HHyiINpD-0&quot; value=&quot;(Optional)&amp;amp;nbsp;yaw (omnidirectional only)&quot; style=&quot;text;strokeColor=#6F0000;fillColor=#a20025;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;V4iDnHv-aVBngZQXmENo-0&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;150&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-6&quot; value=&quot;Speed Setpoint&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-20&quot; y=&quot;360&quot; width=&quot;210&quot; height=&quot;130&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxRectangle x=&quot;660&quot; y=&quot;170&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;alternateBounds&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-7&quot; value=&quot;speed_body_x&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;V4iDnHv-aVBngZQXmENo-6&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;QTT8W0PznRa5HHyiINpD-1&quot; value=&quot;speed_body_y (omnidrectional only)&quot; style=&quot;text;strokeColor=#6F0000;fillColor=#a20025;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;V4iDnHv-aVBngZQXmENo-6&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;60&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-8&quot; value=&quot;speed_setpoint_type&amp;amp;nbsp;&amp;lt;div&amp;gt;(Ground, through water, RPM, ...)&amp;lt;/div&amp;gt;&quot; style=&quot;text;strokeColor=#A50040;fillColor=#d80073;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;V4iDnHv-aVBngZQXmENo-6&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;90&quot; width=&quot;210&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-9&quot; value=&quot;Attitude Setpoint&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;660&quot; y=&quot;360&quot; width=&quot;210&quot; height=&quot;60&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxRectangle x=&quot;660&quot; y=&quot;170&quot; width=&quot;130&quot; height=&quot;30&quot; as=&quot;alternateBounds&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-10&quot; value=&quot;yaw_setpoint&quot; style=&quot;text;strokeColor=#006EAF;fillColor=#0E8F8A;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;fontColor=#ffffff;&quot; parent=&quot;V4iDnHv-aVBngZQXmENo-9&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry y=&quot;30&quot; width=&quot;210&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;V4iDnHv-aVBngZQXmENo-11&quot; value=&quot;Throttle Setpoint&quot; style=&quot;swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;fillColor=#1ba1e2;fontColor=#ffffff;strokeColor=#006EAF;&quot; parent=&quot;pnEmLNOugJnBFrobNyRs-1&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-20&quot; y=&quot;500&quot; width=&quot;210&quot; height=&quot;100&quot; 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neMX2YxJ4gzdVe7P7CCMk/fqkGjofE2LDdMC0sq9nsHu7eQjWDZXthia0NJJIXjW7oGcXQ/ZxKiqfhXl/Gc+rpcfNZPFF3Ugc10wHKufKkGj/u4JaaJkRNYy7m8+uDI7jMdkCIfyfuPGxF5UI3k+fZ2Tl8eCuuawT8CJ8QHl84fULS0VaTlXZlvxLPGjOLU13hC+kX+/Xwuz9u4PdeulR0readFc9oCDfTxTN676nivr6Wa8IzzPSr7a4ONyLPJdSLKCaAbmHswEqmV9aNWuf+vvnbNoSG9JoXz5hcMiWZM3PF8dx1dMwkcSHCjTFiRtIzBqxpQtQ05hltDpju4dkeR0h5DU8XstfOq6ZNhc52Iipdu+SsQ9DHJQPZX1+ocHMxbUutmsv1sT+Tm2pEj6h5BDKfUNM+9rFmPpcya7jV124vv9uf4T5FJo4N0v+/tkc0417kei/bNGjh8nWucvy//kV6YYS74oeZedzxSx33z0+C/fz5hM9nS8h5nfzHS4sx8uMUnvpEyxn71TQhSoG5HS8q78u7RPN2BdivZ3MmO1ztXcsZkvn9X0h5JqBXZcT8SgPdCbpEdJPqRxVoOkzXiYe5+fAlPDC0VgePnBZTw2D1mTEMP4vZvAHfo5hm7+vNOuhWsP2Zn7MRwpQoszwUe/ndPnn3uQJ7qzCzFQPaR3Bs2wha7ZKOSZKage+28cCTgUnL9ECn38T72MvFT6F0bxUxWwv4FQhaXEUFtiUNUznwUNWCtTqmrNDMT4IWIsyqpT9Do6J9YwVN6qcP0G+qMsznvrfGALNV9jjH6/k1TYhSYi7mRxyOaRMx3fbOzfgZHaBxhQJdh3kuZMUmmG4ULWe+o9A1WqkuZLHltRKBckBAEqIcVkGOoWwQkIQom6WQAykHBCQhymEV5BjKBgFJiLJZCjmQckBAEqIcVkGOoWwQkIQom6WQAykHBCQhymEV5BjKBgFJiLJZCjmQckBAEqIcVkGOoWwQkIQom6WQAykHBCQhymEV5BjKBoHwvvZUNlOSA5EIFI+AJETx2Mk76yACkhB1cFHllIpHQBKieOzknXUQAUmIOriockrFIyAJUTx28s46iIAkRB1cVDml4hGQhCgeO3lnHURAEqIOLqqcUvEISEIUj528sw4iIAlRBxdVTql4BP4HruSmul40e8gAAAAASUVORK5CYII="/></switch></g></g></g></svg>