One tuned pipeline,
end to end

// ============================================================================
// Sentinel Core Vision — Zero-GC 1,000Hz Hardware Dispatch
// High-Frequency Visual Servoing & Kinematic State Estimation
// ============================================================================

[StructLayout(LayoutKind.Sequential, Pack = 1)]
public readonly record struct DirectHidPacket(
    byte ReportId,       // 0x01 = Direct Controller Emulation
    short StickLeftX,    // [-32768, 32767] Normalized Deflection
    short StickLeftY,
    short StickRightX,   // Servoing Saccade Step
    short StickRightY,
    uint ButtonsMask,    // Raw Gamepad Triggers & ADS
    uint TimestampMicro  // 1,000Hz Jitter Compensation
);

public sealed class ServoKinematicPipeline : IDisposable
{
    private readonly OutputLoop _outputLoop;
    private readonly ProjectionMagnetCleanAimCore _aimCore;

    [MethodImpl(MethodImplOptions.AggressiveInlining | MethodImplOptions.AggressiveOptimization)]
    public void DispatchServoTick(in ReadOnlySpan targets, in VideoFrameHeader frame)
    {
        // Zero allocation pass: IMM filter estimates target velocity & acceleration
        ref readonly var activeTarget = ref _aimCore.EvaluateBestTarget(targets, frame.Timestamp);
        
        // Time-optimal phase-plane snapping with anti-deadzone compensation
        Vector2 stickDeflection = _aimCore.ComputeKinematicStep(activeTarget);
        
        // Zero-GC atomic transmission to Titan Two hardware via USB DirectHID
        _outputLoop.EnqueueStickDeflection(stickDeflection.X, stickDeflection.Y);
    }
}