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@ -130,7 +130,7 @@ Each drone is running a dummy flight controller node "test_controller". Accordin
**Fig.2:** ROS nodes running on the drone:
![][fig2]
[fig2]: https://github.com/MISTLab/XbeeMav/tree/master/Resources/Fig1.png "Fig.2"
[fig2]: https://github.com/MISTLab/XbeeMav/tree/master/Resources/Fig2.png "Fig.2"
The communication between both drones is performed with Xbees. The “xbee_mav” node (**Fig.2**) will handle all communications with other ROS nodes (test_controller(Flight Controller) or test_buzz (ROS Buzz)) and the connected Xbee device. Therefore, both Xbees must be configured for Digi-Mesh with the maximum baud rate (230400).
We recognize two modes of communications: