Rust flight
firmware.

no_std crate stack

Define a flight mode

Implement the FlightMode trait. The scheduler calls update every control tick — no allocation, no dynamic dispatch overhead.

pub struct LoiterMode {
    target: PositionNed,
}

impl FlightMode for LoiterMode {
    fn on_enter(&mut self, telem: &Telemetry) {
        // Capture current position as hold target
        self.target = telem.position_ned;
    }

    fn update(
        &mut self,
        dt: f32,
        telem: &Telemetry,
    ) -> ControlOutput {
        let err = self.target - telem.position_ned;
        ControlOutput::position_hold(err, dt)
    }
}