Struct World 

pub struct World<B, E, C, M, CI, 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,
    CI: CommInterface<B>,
    PD: PwmDriver<R>,
{ /* private fields */ }

Implementations

impl<B, E, C, M, CI, PD, R> World<B, E, C, M, CI, PD, R>

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, CI: CommInterface<B>, PD: PwmDriver<R>, R: FlightFloat,

pub fn run_once(&mut self) -> bool

pub fn set_telemetry_rates(&mut self, telemetry_rates: TelemetryRates)

pub fn set_control_loop_rates(&mut self, control_loop_rates: ControlLoopRates)

pub fn set_test_pin_3(&mut self, high: bool)

pub fn set_test_pin_2(&mut self, high: bool)

pub fn run_comm_param_sensor_stages(&mut self)

pub fn imu_pending(&self) -> bool

pub fn realtime_scheduler_step(&self) -> RealtimeSchedulerStep

pub fn run_imu_control_tick(&mut self) -> bool

pub fn run_control_update_tick(&mut self) -> bool

pub fn run_rc_command_state_stages(&mut self, fresh_rc: Option<RcPacket>)

pub fn run_pwm_output_stage(&mut self) -> bool

pub fn run_control_stages_if_new_imu(&mut self) -> bool

pub fn run_control_and_mixing_stage_if_new_imu(&mut self) -> bool

impl<B, E, C, M, CI, PD, R> World<B, E, C, M, CI, PD, R>

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, CI: CommInterface<B>, PD: PwmDriver<R>, R: FlightFloat,

pub fn run_prioritized_service_steps_with_policy( &mut self, policy: RealtimeServicePolicy, ) -> WorldReport

pub fn run_communication_and_parameter_service_stage(&mut self)

pub fn run_sensor_ingestion_and_health_stage(&mut self)

impl<B, E, C, M, CI, PD, R> World<B, E, C, M, CI, PD, R>

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, CI: CommInterface<B>, PD: PwmDriver<R>, R: FlightFloat,

pub fn run_telemetry_stage(&mut self)

pub fn run_realtime_telemetry_stage_budgeted( &mut self, max_streams: usize, ) -> usize

Sends up to max_streams currently due named telemetry streams.

Board realtime loops may call this after a completed control update when hardware timing shows enough post-control slack and service phases alone do not provide enough telemetry scheduling opportunities. Keep the budget board-specific and validate the resulting control p99/max timing with scope pins before making it a production default.

pub fn run_realtime_telemetry_stage_prioritized( &mut self, priority_streams: &[RealtimeTelemetryPriority], max_streams: usize, ) -> usize

Sends board-selected priority streams first, then fills the remaining budget normally.

priority_streams is a board policy list. Core applies each stream’s configured priority gate, so boards can choose normal due-deadline behavior or a stricter freshness gate for streams paced by the control tick.

impl<B, E, C, M, CI, PD, R> World<B, E, C, M, CI, PD, R>

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, CI: CommInterface<B>, PD: PwmDriver<R>, R: FlightFloat,

pub fn init( board: B, params: Params, comm_link: CI, state: StateManager, estimator: E, controller: C, mixer: M, pwm: PD, ) -> Self