• frame_update_task() : multithreaded_waypoint_example.cpp
• main() : basic_waypoint_example.cpp , hello_snav.cpp , orbit_example.cpp , nonblocking_trajectory_example.cpp , multithreaded_waypoint_example.cpp
• mission_task() : multithreaded_waypoint_example.cpp
• telemetry_task() : multithreaded_waypoint_example.cpp