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All functionality relating to GIJO will be contained in the GroundSend module. We’ll use the fifo buffer, pack and decode methods from the mavtest.py example to encode the message in the sendGround function. The worker will get messages in the request format as defined here as a “QR_INFO” message type. The GroundSendWorker will take from the pipeline in then use the sendGround method to get an encoded buffer which is then sent to the XBee interface to write.
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