Task information EventDispatcher StateEstimation AltitudeHold Stabilization0 Stabilization1 PathFollower PathPlanner0 PathPlanner1 ManualControl EventDispatcher StateEstimation AltitudeHold Stabilization0 Stabilization1 PathFollower PathPlanner0 PathPlanner1 ManualControl EventDispatcher StateEstimation AltitudeHold Stabilization0 Stabilization1 PathFollower PathPlanner0 PathPlanner1 ManualControl