What is the general frame of flight in a motion capture system？

[Manakoy]

I'm trying to fly in a motion capture system, but I don't know exactly what to do. There are a few issues:

1. At first, I didn't use Laird. I did this by running base_computer_example.launch and real_quad_example.launch. The plane was able to fly but was unstable. And after some time, the following error occurs
   [ERROR] [1580718104.452736397, 50.280000000]: [/hummingbird/autopilot] Lost state estimate
   2.When I decided to adopt Laird. But I'm not quite sure what topics to send with Laird and what the framework of the entire system is.I very much hope that you can view the framework diagram(rqt_graph) after joining Laird