Struct TelemetryPacket 

#[repr(C, packed(1))]
pub struct TelemetryPacket {
    pub timestamp_ms: u32,
    pub roll: f32,
    pub pitch: f32,
    pub yaw: f32,
    pub pos_z: f32,
    pub motor_fl: f32,
    pub motor_fr: f32,
    pub motor_rl: f32,
    pub motor_rr: f32,
    pub status_flags: u8,
}

A packed, fixed-size snapshot of the vehicle state.

Binary Layout

This struct uses #[repr(C, packed)] to ensure a stable, predictable memory layout across different platforms. It is exactly 37 bytes (36 for data + 1 for flags).

Field	Type	Offset
timestamp_ms	u32	0
roll..pos_z	f32 x 4	4-19
motor_fl..rr	f32 x 4	20-35
status_flags	u8	36

Fields

timestamp_ms: u32

System uptime in milliseconds.

roll: f32

Current Euler angles (Radians).

pitch: f32

yaw: f32

pos_z: f32

Vertical position (Altitude) in meters (NED frame).

motor_fl: f32

Normalized motor output [0.0 - 1.0].

motor_fr: f32

motor_rl: f32

motor_rr: f32

status_flags: u8

Bitmask for system status:

• Bit 0: Armed state (1 = Armed, 0 = Disarmed)
• Bit 1: Failsafe active
• Bit 2: Battery critical

Implementations

impl TelemetryPacket

pub fn new( timestamp_ms: u32, attitude: Attitude, pos: Position, motors: QuadMotorSignals, armed: bool, ) -> Self

Constructs a new telemetry snapshot from high-level GNC types.

pub fn as_bytes(&self) -> &[u8]

Views the packet as a byte slice for transmission.

Safety

This uses unsafe to cast the struct directly to a byte slice. This is safe as long as:

1. The struct is #[repr(C, packed)].
2. The slice does not outlive the struct instance.

Trait Implementations

impl Clone for TelemetryPacket

fn clone(&self) -> TelemetryPacket

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for TelemetryPacket

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Copy for TelemetryPacket