docs/program_architecture.drawio.svg

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                                velocity
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                                I2C
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                                acceleration
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                                &amp; gyration
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                                ESP
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                                sensors
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                    onboard...
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                                TIM
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                    wireless...
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                                altitude
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                                EKF
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                    altitude...
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                                battery
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                                EKF
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                <text x="445" y="358" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
                    battery...
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                                FSM
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                                LQR
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                                state
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                    state...
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                                attitude
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                    attitude...
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