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The GroundReceive module has an XBeesInterface to read in the data from the other XBees device on the flight using the read_data() function. After reading the data, we would have a GroundReceiveWorker() function that will be passed as a callback to the interface to decode data from MavLink and send it to the GUI.
GroundSend Module
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The GroudSend module has an XBeesInterface to send encoded data back to the flight using the write_data() function. Before sending the data, we would have a pipeline from the GUI that sends the data to this module. The GroundSendWorker function will take in this data and encode it back to the Mavlink format to facilitate data transfer back to the flight.
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