Struct ControlPipelineCtx 

pub struct ControlPipelineCtx<'a, B, E, C, M, PD, R: FlightFloat>
where
    B: BoardIo,
    E: Estimator<R>,
    C: Controller<R, State = E::State> + RcTrimCalibrator,
    M: Mixer<R, MixerInput = C::ControlOutput>,
    M::ActuatorCommands: AsRef<[R]> + Copy,
    E::State: Copy + Default,
    PD: PwmDriver<R>,
{

    pub board: &'a mut B,
    pub params: &'a Params,
    pub sensors: &'a ProcessedSensors<R>,
    pub external_attitude: &'a mut ExternalAttitudeState,
    pub aux_commands: &'a AuxCommandState,
    pub command: &'a CommandManager,
    pub state: &'a mut StateManager,
    pub estimator: &'a mut E,
    pub controller: &'a mut C,
    pub mixer: &'a mut M,
    pub control_pipeline: &'a mut ControlPipelineResource<E::State, M::ActuatorCommands, R>,
    pub pwm_output: &'a PwmOutputState,
    pub pwm: &'a mut PD,
    pub timing: Option<&'a mut ControlPipelineTiming>,
}

Fields

board: &'a mut B

params: &'a Params

sensors: &'a ProcessedSensors<R>

external_attitude: &'a mut ExternalAttitudeState

aux_commands: &'a AuxCommandState

command: &'a CommandManager

state: &'a mut StateManager

estimator: &'a mut E

controller: &'a mut C

mixer: &'a mut M

control_pipeline: &'a mut ControlPipelineResource<E::State, M::ActuatorCommands, R>

pwm_output: &'a PwmOutputState

pwm: &'a mut PD

timing: Option<&'a mut ControlPipelineTiming>