cu-flight-controller 1.2.1

This is a basic quadcopter Flight Controller implemented end to end using Copper components
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(
    tasks: [
        (
            id: "navigation",
            type: "tasks::autonomy::NavigationStateTask",
            logging: (enabled: true),
        ),
        (
            id: "auto_mission",
            type: "tasks::autonomy::AutoMission",
            logging: (enabled: true),
        ),
        (
            id: "autonomy_context",
            type: "tasks::autonomy::AutonomyContextTask",
            logging: (enabled: true),
        ),
        (
            id: "auto_controller",
            type: "tasks::autonomy::AutoVelocityController",
            logging: (enabled: true),
        ),
        (
            id: "mode_supervisor",
            type: "tasks::autonomy::ModeSupervisor",
            logging: (enabled: true),
        ),
    ],
    bridges: [
        (
            id: "autonomy",
            type: "autonomy_bridge::AutonomyBridge",
            run_in_sim: false,
            logging: (enabled: true),
            config: {
                "wire_format": "bincode",
            },
            channels: [
                Tx(
                    id: "context",
                    route: "flight/autonomy/context",
                ),
                Rx(
                    id: "command",
                    route: "flight/autonomy/command",
                ),
            ],
        ),
    ],
    cnx: [
        (
            src: "gnss_ublox",
            dst: "navigation",
            msg: "cu_gnss_payloads::GnssFixSolution",
        ),
        (
            src: "ahrs",
            dst: "navigation",
            msg: "cu_ahrs::AhrsPose",
        ),
        (
            src: "mag_heading",
            dst: "navigation",
            msg: "crate::messages::GeographicHeading",
        ),
        (
            src: "mapper",
            dst: "auto_mission",
            msg: "crate::messages::ControlInputs",
        ),
        (
            src: "navigation",
            dst: "auto_mission",
            msg: "crate::messages::NavigationState",
        ),
        (
            src: "mapper",
            dst: "autonomy_context",
            msg: "crate::messages::ControlInputs",
        ),
        (
            src: "navigation",
            dst: "autonomy_context",
            msg: "crate::messages::NavigationState",
        ),
        (
            src: "auto_mission",
            dst: "autonomy_context",
            msg: "crate::messages::AutoMissionTarget",
        ),
        (
            src: "autonomy_context",
            dst: "autonomy/context",
            msg: "crate::messages::AutonomyContext",
        ),
        (
            src: "mapper",
            dst: "auto_controller",
            msg: "crate::messages::ControlInputs",
        ),
        (
            src: "navigation",
            dst: "auto_controller",
            msg: "crate::messages::NavigationState",
        ),
        (
            src: "auto_mission",
            dst: "auto_controller",
            msg: "crate::messages::AutoMissionTarget",
        ),
        (
            src: "autonomy/command",
            dst: "auto_controller",
            msg: "crate::messages::AutonomyVelocityCommand",
        ),
        (
            src: "mapper",
            dst: "mode_supervisor",
            msg: "crate::messages::ControlInputs",
        ),
        (
            src: "auto_controller",
            dst: "mode_supervisor",
            msg: "crate::messages::AutonomyControl",
        ),
    ],
)