can do optimization and you can you can do trajectory optimization and mile predictive control to solve these things and so we we visit we do a combination of all these things in a way but but as cool is like we we run something on board that runs at 500 races per second that is reasoning about kind of the whole stack between all the way up to like obstacle ones and cinematic quality all down to like what are the dynamic limits on the rotors and the more you can reason about the whole system together rather than in separate little