Software architecture

All supplied software packages communicate internally using the MAVLink protocol, routed through mavlink-router. On the Stribog platform, the Jetson companion computer connects to the flight controller (CubePilot) over USB. Applications that communicate with each other or with the flight controller do so by sending MAVLink messages to mavlink-router, which forwards them to the correct destination based on system/component IDs and routing rules. Not all packages are shown in this diagram for clarity — only the components whose routing is more complex or relevant for the diagram.