diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..2b39d69
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,63 @@
+
+
+idf_component_register(
+    SRCS "placeholder.c"
+    INCLUDE_DIRS ""
+    PRIV_REQUIRES "${RUST_DEPS}"
+)
+
+set(CARGO_BUILD_TYPE "release")
+set(CARGO_BUILD_ARG "--release")
+if(CONFIG_IDF_TARGET_ARCH_RISCV)
+    set(CARGO_TARGET "riscv32imc-esp-espidf")
+    set(CARGO_FEATURES_ARG "")
+elseif(CONFIG_IDF_TARGET_ARCH_XTENSA)
+    set(CARGO_TARGET "xtensa-esp32-espidf")
+    set(CARGO_FEATURES_ARG "--features=std")
+endif()
+
+set(RUST_PROJECT_DIR "${CMAKE_CURRENT_LIST_DIR}")
+set(RUST_BUILD_DIR "${CMAKE_CURRENT_BINARY_DIR}")
+set(RUST_TARGET_DIR "${RUST_BUILD_DIR}/target")
+set(RUST_INCLUDE_DIR "${RUST_TARGET_DIR}")
+set(RUST_INCLUDE_HEADER "${RUST_INCLUDE_DIR}/RustApi.h")
+set(RUST_STATIC_LIBRARY "${RUST_TARGET_DIR}/${CARGO_TARGET}/${CARGO_BUILD_TYPE}/libdrone_controller.a")
+
+idf_build_get_property(sdkconfig SDKCONFIG)
+
+ExternalProject_Add(
+    drone_controller_project
+    PREFIX "${RUST_PROJECT_DIR}"
+    DOWNLOAD_COMMAND ""
+    CONFIGURE_COMMAND ${CMAKE_COMMAND} -E env
+        CARGO_BUILD_TARGET=${CARGO_TARGET}
+        CARGO_BUILD_TARGET_DIR=${RUST_TARGET_DIR}
+        cargo clean
+    BUILD_COMMAND ${CMAKE_COMMAND} -E env
+        CARGO_BUILD_TARGET=${CARGO_TARGET}
+        CARGO_BUILD_TARGET_DIR=${RUST_TARGET_DIR}
+        CARGO_CMAKE_BUILD_INCLUDES=$<TARGET_PROPERTY:${COMPONENT_LIB},INCLUDE_DIRECTORIES>
+        CARGO_CMAKE_BUILD_LINK_LIBRARIES=$<TARGET_PROPERTY:${COMPONENT_LIB},LINK_LIBRARIES>
+        CARGO_CMAKE_BUILD_SDKCONFIG=${sdkconfig}
+        CARGO_CMAKE_BUILD_COMPILER=${CMAKE_C_COMPILER}
+        cargo build ${CARGO_BUILD_ARG} ${CARGO_FEATURES_ARG}
+    INSTALL_COMMAND ""
+    BUILD_ALWAYS TRUE
+    TMP_DIR "${RUST_BUILD_DIR}/tmp"
+    STAMP_DIR "${RUST_BUILD_DIR}/stamp"
+    DOWNLOAD_DIR "${RUST_BUILD_DIR}"
+    SOURCE_DIR "${RUST_PROJECT_DIR}"
+    BINARY_DIR "${RUST_PROJECT_DIR}"
+    INSTALL_DIR "${RUST_BUILD_DIR}"
+    BUILD_BYPRODUCTS
+        "${RUST_INCLUDE_HEADER}"
+        "${RUST_STATIC_LIBRARY}"
+)
+
+set_source_files_properties("${RUST_INCLUDE_HEADER}" PROPERTIES GENERATED true)
+
+add_prebuilt_library(drone_controller_lib "${RUST_STATIC_LIBRARY}" PRIV_REQUIRES "${RUST_DEPS}")
+add_dependencies(drone_controller_lib rustlib_project)
+
+target_include_directories(${COMPONENT_LIB} PUBLIC "${RUST_INCLUDE_DIR}")
+target_link_libraries(${COMPONENT_LIB} PRIVATE drone_controller_lib)
diff --git a/Cargo.lock b/Cargo.lock
index 3154d8b..9652985 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2,15 +2,6 @@
 # It is not intended for manual editing.
 version = 4
 
-[[package]]
-name = "aho-corasick"
-version = "1.1.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ddd31a130427c27518df266943a5308ed92d4b226cc639f5a8f1002816174301"
-dependencies = [
- "memchr",
-]
-
 [[package]]
 name = "android_system_properties"
 version = "0.1.5"
@@ -20,15 +11,6 @@ dependencies = [
  "libc",
 ]
 
-[[package]]
-name = "ansi_term"
-version = "0.12.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d52a9bb7ec0cf484c551830a7ce27bd20d67eac647e1befb56b0be4ee39a55d2"
-dependencies = [
- "winapi",
-]
-
 [[package]]
 name = "anstream"
 version = "0.6.21"
@@ -94,17 +76,6 @@ dependencies = [
  "num-traits",
 ]
 
-[[package]]
-name = "atty"
-version = "0.2.14"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d9b39be18770d11421cdb1b9947a45dd3f37e93092cbf377614828a319d5fee8"
-dependencies = [
- "hermit-abi",
- "libc",
- "winapi",
-]
-
 [[package]]
 name = "autocfg"
 version = "1.5.0"
@@ -117,35 +88,6 @@ version = "0.22.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "72b3254f16251a8381aa12e40e3c4d2f0199f8c6508fbecb9d91f575e0fbb8c6"
 
-[[package]]
-name = "bindgen"
-version = "0.58.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0f8523b410d7187a43085e7e064416ea32ded16bd0a4e6fc025e21616d01258f"
-dependencies = [
- "bitflags 1.3.2",
- "cexpr",
- "clang-sys",
- "clap 2.34.0",
- "env_logger",
- "lazy_static",
- "lazycell",
- "log",
- "peeking_take_while",
- "proc-macro2",
- "quote",
- "regex",
- "rustc-hash",
- "shlex",
- "which",
-]
-
-[[package]]
-name = "bitflags"
-version = "1.3.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
-
 [[package]]
 name = "bitflags"
 version = "2.11.0"
@@ -166,21 +108,21 @@ checksum = "c8efb64bd706a16a1bdde310ae86b351e4d21550d98d056f22f8a7f7a2183fec"
 
 [[package]]
 name = "cbindgen"
-version = "0.19.0"
+version = "0.29.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38728c31b994e4b849cf59feefb4a8bf26acd299ee0b92c9fb35bd14ad4b8dfa"
+checksum = "befbfd072a8e81c02f8c507aefce431fe5e7d051f83d48a23ffc9b9fe5a11799"
 dependencies = [
- "clap 2.34.0",
- "heck 0.3.3",
- "indexmap 1.9.3",
+ "clap",
+ "heck",
+ "indexmap 2.13.0",
  "log",
  "proc-macro2",
  "quote",
  "serde",
  "serde_json",
- "syn 1.0.109",
+ "syn",
  "tempfile",
- "toml 0.5.11",
+ "toml",
 ]
 
 [[package]]
@@ -193,15 +135,6 @@ dependencies = [
  "shlex",
 ]
 
-[[package]]
-name = "cexpr"
-version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f4aedb84272dbe89af497cf81375129abda4fc0a9e7c5d317498c15cc30c0d27"
-dependencies = [
- "nom",
-]
-
 [[package]]
 name = "cfg-if"
 version = "1.0.4"
@@ -220,32 +153,6 @@ dependencies = [
  "windows-link",
 ]
 
-[[package]]
-name = "clang-sys"
-version = "1.8.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0b023947811758c97c59bf9d1c188fd619ad4718dcaa767947df1cadb14f39f4"
-dependencies = [
- "glob",
- "libc",
- "libloading",
-]
-
-[[package]]
-name = "clap"
-version = "2.34.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a0610544180c38b88101fecf2dd634b174a62eef6946f84dfc6a7127512b381c"
-dependencies = [
- "ansi_term",
- "atty",
- "bitflags 1.3.2",
- "strsim 0.8.0",
- "textwrap",
- "unicode-width",
- "vec_map",
-]
-
 [[package]]
 name = "clap"
 version = "4.5.60"
@@ -265,7 +172,7 @@ dependencies = [
  "anstream",
  "anstyle",
  "clap_lex",
- "strsim 0.11.1",
+ "strsim",
 ]
 
 [[package]]
@@ -274,10 +181,10 @@ version = "4.5.55"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a92793da1a46a5f2a02a6f4c46c6496b28c43638adea8306fcb0caa1634f24e5"
 dependencies = [
- "heck 0.5.0",
+ "heck",
  "proc-macro2",
  "quote",
- "syn 2.0.117",
+ "syn",
 ]
 
 [[package]]
@@ -318,8 +225,8 @@ dependencies = [
  "ident_case",
  "proc-macro2",
  "quote",
- "strsim 0.11.1",
- "syn 2.0.117",
+ "strsim",
+ "syn",
 ]
 
 [[package]]
@@ -330,7 +237,7 @@ checksum = "d38308df82d1080de0afee5d069fa14b0326a88c14f15c5ccda35b4a6c414c81"
 dependencies = [
  "darling_core",
  "quote",
- "syn 2.0.117",
+ "syn",
 ]
 
 [[package]]
@@ -347,14 +254,13 @@ dependencies = [
 name = "drone_controller"
 version = "0.1.0"
 dependencies = [
- "bindgen",
  "cbindgen",
- "clap 4.5.60",
+ "clap",
  "nalgebra",
  "serde",
  "serde_json",
  "serde_with",
- "toml 0.9.12+spec-1.1.0",
+ "toml",
 ]
 
 [[package]]
@@ -363,19 +269,6 @@ version = "1.0.20"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d0881ea181b1df73ff77ffaaf9c7544ecc11e82fba9b5f27b262a3c73a332555"
 
-[[package]]
-name = "env_logger"
-version = "0.8.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a19187fea3ac7e84da7dacf48de0c45d63c6a76f9490dae389aead16c243fce3"
-dependencies = [
- "atty",
- "humantime",
- "log",
- "regex",
- "termcolor",
-]
-
 [[package]]
 name = "equivalent"
 version = "1.0.2"
@@ -525,12 +418,6 @@ version = "0.30.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "19fc433e8437a212d1b6f1e68c7824af3aed907da60afa994e7f542d18d12aa9"
 
-[[package]]
-name = "glob"
-version = "0.3.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0cc23270f6e1808e30a928bdc84dea0b9b4136a8bc82338574f23baf47bbd280"
-
 [[package]]
 name = "hashbrown"
 version = "0.12.3"
@@ -552,42 +439,18 @@ version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "841d1cc9bed7f9236f321df977030373f4a4163ae1a7dbfe1a51a2c1a51d9100"
 
-[[package]]
-name = "heck"
-version = "0.3.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6d621efb26863f0e9924c6ac577e8275e5e6b77455db64ffa6c65c904e9e132c"
-dependencies = [
- "unicode-segmentation",
-]
-
 [[package]]
 name = "heck"
 version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2304e00983f87ffb38b55b444b5e3b60a884b5d30c0fca7d82fe33449bbe55ea"
 
-[[package]]
-name = "hermit-abi"
-version = "0.1.19"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "62b467343b94ba476dcb2500d242dadbb39557df889310ac77c5d99100aaac33"
-dependencies = [
- "libc",
-]
-
 [[package]]
 name = "hex"
 version = "0.4.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7f24254aa9a54b5c858eaee2f5bccdb46aaf0e486a595ed5fd8f86ba55232a70"
 
-[[package]]
-name = "humantime"
-version = "2.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "135b12329e5e3ce057a9f972339ea52bc954fe1e9358ef27f95e89716fbc5424"
-
 [[package]]
 name = "iana-time-zone"
 version = "0.1.65"
@@ -669,18 +532,6 @@ dependencies = [
  "wasm-bindgen",
 ]
 
-[[package]]
-name = "lazy_static"
-version = "1.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
-
-[[package]]
-name = "lazycell"
-version = "1.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "830d08ce1d1d941e6b30645f1a0eb5643013d835ce3779a5fc208261dbe10f55"
-
 [[package]]
 name = "leb128fmt"
 version = "0.1.0"
@@ -693,16 +544,6 @@ version = "0.2.183"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b5b646652bf6661599e1da8901b3b9522896f01e736bad5f723fe7a3a27f899d"
 
-[[package]]
-name = "libloading"
-version = "0.8.9"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d7c4b02199fee7c5d21a5ae7d8cfa79a6ef5bb2fc834d6e9058e89c825efdc55"
-dependencies = [
- "cfg-if",
- "windows-link",
-]
-
 [[package]]
 name = "linux-raw-sys"
 version = "0.12.1"
@@ -771,17 +612,7 @@ checksum = "973e7178a678cfd059ccec50887658d482ce16b0aa9da3888ddeab5cd5eb4889"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.117",
-]
-
-[[package]]
-name = "nom"
-version = "5.1.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "08959a387a676302eebf4ddbcbc611da04285579f76f88ee0506c63b1a61dd4b"
-dependencies = [
- "memchr",
- "version_check",
+ "syn",
 ]
 
 [[package]]
@@ -856,12 +687,6 @@ version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
 
-[[package]]
-name = "peeking_take_while"
-version = "0.1.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "19b17cddbe7ec3f8bc800887bab5e717348c95ea2ca0b1bf0837fb964dc67099"
-
 [[package]]
 name = "powerfmt"
 version = "0.2.0"
@@ -875,7 +700,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "479ca8adacdd7ce8f1fb39ce9ecccbfe93a3f1344b3d0d97f20bc0196208f62b"
 dependencies = [
  "proc-macro2",
- "syn 2.0.117",
+ "syn",
 ]
 
 [[package]]
@@ -925,51 +750,16 @@ checksum = "b7186006dcb21920990093f30e3dea63b7d6e977bf1256be20c3563a5db070da"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.117",
+ "syn",
 ]
 
-[[package]]
-name = "regex"
-version = "1.12.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e10754a14b9137dd7b1e3e5b0493cc9171fdd105e0ab477f51b72e7f3ac0e276"
-dependencies = [
- "aho-corasick",
- "memchr",
- "regex-automata",
- "regex-syntax",
-]
-
-[[package]]
-name = "regex-automata"
-version = "0.4.14"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6e1dd4122fc1595e8162618945476892eefca7b88c52820e74af6262213cae8f"
-dependencies = [
- "aho-corasick",
- "memchr",
- "regex-syntax",
-]
-
-[[package]]
-name = "regex-syntax"
-version = "0.8.10"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dc897dd8d9e8bd1ed8cdad82b5966c3e0ecae09fb1907d58efaa013543185d0a"
-
-[[package]]
-name = "rustc-hash"
-version = "1.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
-
 [[package]]
 name = "rustix"
 version = "1.1.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b6fe4565b9518b83ef4f91bb47ce29620ca828bd32cb7e408f0062e9930ba190"
 dependencies = [
- "bitflags 2.11.0",
+ "bitflags",
  "errno",
  "libc",
  "linux-raw-sys",
@@ -1048,7 +838,7 @@ checksum = "d540f220d3187173da220f885ab66608367b6574e925011a9353e4badda91d79"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.117",
+ "syn",
 ]
 
 [[package]]
@@ -1101,7 +891,7 @@ dependencies = [
  "darling",
  "proc-macro2",
  "quote",
- "syn 2.0.117",
+ "syn",
 ]
 
 [[package]]
@@ -1123,29 +913,12 @@ dependencies = [
  "wide",
 ]
 
-[[package]]
-name = "strsim"
-version = "0.8.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8ea5119cdb4c55b55d432abb513a0429384878c15dde60cc77b1c99de1a95a6a"
-
 [[package]]
 name = "strsim"
 version = "0.11.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7da8b5736845d9f2fcb837ea5d9e2628564b3b043a70948a3f0b778838c5fb4f"
 
-[[package]]
-name = "syn"
-version = "1.0.109"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "72b64191b275b66ffe2469e8af2c1cfe3bafa67b529ead792a6d0160888b4237"
-dependencies = [
- "proc-macro2",
- "quote",
- "unicode-ident",
-]
-
 [[package]]
 name = "syn"
 version = "2.0.117"
@@ -1170,24 +943,6 @@ dependencies = [
  "windows-sys",
 ]
 
-[[package]]
-name = "termcolor"
-version = "1.4.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "06794f8f6c5c898b3275aebefa6b8a1cb24cd2c6c79397ab15774837a0bc5755"
-dependencies = [
- "winapi-util",
-]
-
-[[package]]
-name = "textwrap"
-version = "0.11.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d326610f408c7a4eb6f51c37c330e496b08506c9457c9d34287ecc38809fb060"
-dependencies = [
- "unicode-width",
-]
-
 [[package]]
 name = "time"
 version = "0.3.47"
@@ -1219,15 +974,6 @@ dependencies = [
  "time-core",
 ]
 
-[[package]]
-name = "toml"
-version = "0.5.11"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f4f7f0dd8d50a853a531c426359045b1998f04219d88799810762cd4ad314234"
-dependencies = [
- "serde",
-]
-
 [[package]]
 name = "toml"
 version = "0.9.12+spec-1.1.0"
@@ -1279,18 +1025,6 @@ version = "1.0.24"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e6e4313cd5fcd3dad5cafa179702e2b244f760991f45397d14d4ebf38247da75"
 
-[[package]]
-name = "unicode-segmentation"
-version = "1.12.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f6ccf251212114b54433ec949fd6a7841275f9ada20dddd2f29e9ceea4501493"
-
-[[package]]
-name = "unicode-width"
-version = "0.1.14"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7dd6e30e90baa6f72411720665d41d89b9a3d039dc45b8faea1ddd07f617f6af"
-
 [[package]]
 name = "unicode-xid"
 version = "0.2.6"
@@ -1303,18 +1037,6 @@ version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "06abde3611657adf66d383f00b093d7faecc7fa57071cce2578660c9f1010821"
 
-[[package]]
-name = "vec_map"
-version = "0.8.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f1bddf1187be692e79c5ffeab891132dfb0f236ed36a43c7ed39f1165ee20191"
-
-[[package]]
-name = "version_check"
-version = "0.9.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0b928f33d975fc6ad9f86c8f283853ad26bdd5b10b7f1542aa2fa15e2289105a"
-
 [[package]]
 name = "wasip2"
 version = "1.0.2+wasi-0.2.9"
@@ -1365,7 +1087,7 @@ dependencies = [
  "bumpalo",
  "proc-macro2",
  "quote",
- "syn 2.0.117",
+ "syn",
  "wasm-bindgen-shared",
 ]
 
@@ -1406,21 +1128,12 @@ version = "0.244.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "47b807c72e1bac69382b3a6fb3dbe8ea4c0ed87ff5629b8685ae6b9a611028fe"
 dependencies = [
- "bitflags 2.11.0",
+ "bitflags",
  "hashbrown 0.15.5",
  "indexmap 2.13.0",
  "semver",
 ]
 
-[[package]]
-name = "which"
-version = "3.1.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d011071ae14a2f6671d0b74080ae0cd8ebf3a6f8c9589a2cd45f23126fe29724"
-dependencies = [
- "libc",
-]
-
 [[package]]
 name = "wide"
 version = "0.7.33"
@@ -1431,37 +1144,6 @@ dependencies = [
  "safe_arch",
 ]
 
-[[package]]
-name = "winapi"
-version = "0.3.9"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5c839a674fcd7a98952e593242ea400abe93992746761e38641405d28b00f419"
-dependencies = [
- "winapi-i686-pc-windows-gnu",
- "winapi-x86_64-pc-windows-gnu",
-]
-
-[[package]]
-name = "winapi-i686-pc-windows-gnu"
-version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
-
-[[package]]
-name = "winapi-util"
-version = "0.1.11"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c2a7b1c03c876122aa43f3020e6c3c3ee5c05081c9a00739faf7503aeba10d22"
-dependencies = [
- "windows-sys",
-]
-
-[[package]]
-name = "winapi-x86_64-pc-windows-gnu"
-version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
-
 [[package]]
 name = "windows-core"
 version = "0.62.2"
@@ -1483,7 +1165,7 @@ checksum = "053e2e040ab57b9dc951b72c264860db7eb3b0200ba345b4e4c3b14f67855ddf"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.117",
+ "syn",
 ]
 
 [[package]]
@@ -1494,7 +1176,7 @@ checksum = "3f316c4a2570ba26bbec722032c4099d8c8bc095efccdc15688708623367e358"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.117",
+ "syn",
 ]
 
 [[package]]
@@ -1552,7 +1234,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ea61de684c3ea68cb082b7a88508a8b27fcc8b797d738bfc99a82facf1d752dc"
 dependencies = [
  "anyhow",
- "heck 0.5.0",
+ "heck",
  "wit-parser",
 ]
 
@@ -1563,10 +1245,10 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b7c566e0f4b284dd6561c786d9cb0142da491f46a9fbed79ea69cdad5db17f21"
 dependencies = [
  "anyhow",
- "heck 0.5.0",
+ "heck",
  "indexmap 2.13.0",
  "prettyplease",
- "syn 2.0.117",
+ "syn",
  "wasm-metadata",
  "wit-bindgen-core",
  "wit-component",
@@ -1582,7 +1264,7 @@ dependencies = [
  "prettyplease",
  "proc-macro2",
  "quote",
- "syn 2.0.117",
+ "syn",
  "wit-bindgen-core",
  "wit-bindgen-rust",
 ]
@@ -1594,7 +1276,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9d66ea20e9553b30172b5e831994e35fbde2d165325bec84fc43dbf6f4eb9cb2"
 dependencies = [
  "anyhow",
- "bitflags 2.11.0",
+ "bitflags",
  "indexmap 2.13.0",
  "log",
  "serde",
diff --git a/Cargo.toml b/Cargo.toml
index 0c25d51..0720f12 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -2,14 +2,13 @@
 [package]
 name = "drone_controller"
 version = "0.1.0"
-edition = "2018"
+edition = "2024"
 
 [lib]
 crate-type = ["staticlib"]
 
 [build-dependencies]
-bindgen = "0.58"
-cbindgen = "0.19"
+cbindgen = "0.29"
 
 
 [dependencies]
diff --git a/build.rs b/build.rs
index c266995..d34d8a3 100644
--- a/build.rs
+++ b/build.rs
@@ -13,7 +13,7 @@ fn run_cbindgen(cargo_dir: &Path, target_dir: &Path) {
 
     cbindgen::Builder::new()
         .with_crate(cargo_dir)
-        .with_language(cbindgen::Language::C)
+        .with_language(cbindgen::Language::Cxx)
         .generate()
         .expect("Unable to generate bindings")
         .write_to_file(&out);
diff --git a/placeholder.c b/placeholder.c
new file mode 100644
index 0000000..de0472a
--- /dev/null
+++ b/placeholder.c
@@ -0,0 +1,13 @@
+/* Hello World Example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
+*/
+
+/* This is an empty source file to force the build of a CMake library that
+   can participate in the CMake dependency graph. This placeholder library
+   will depend on the actual library generated by external Rust build.
+*/
\ No newline at end of file
diff --git a/rust-toolchain.toml b/rust-toolchain.toml
new file mode 100644
index 0000000..a2f5ab5
--- /dev/null
+++ b/rust-toolchain.toml
@@ -0,0 +1,2 @@
+[toolchain]
+channel = "esp"
diff --git a/src/lib.rs b/src/lib.rs
index 3ed0faf..2190629 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -17,7 +17,7 @@ pub extern "C" fn create(c: config::ControllerConfig) -> *mut StackedController
 
 
 #[unsafe(no_mangle)]
-pub unsafe extern "C" fn destroy(ptr: *mut ControllerConfig) {
+pub unsafe extern "C" fn destroy(ptr: *mut StackedController) {
     assert!(!ptr.is_null());
     let _x = unsafe { Box::from_raw(ptr) };
 }