board: make telemetry profile selection explicit

libs/kaptan-data-channel/src/lib.rs

@@ -2,7 +2,8 @@
 //!
 //! This crate owns fixed-rate scheduling, mailbox consumption, vertical-data
 //! freshness, MAVLink encoding, and bounded queue classification. A platform
-//! supplies only mailbox references, health/arming state, and a transport sink.
+//! supplies only mailbox references, a declared MAVLink state, arming state,
+//! and a transport sink.
 
 #![no_std]
 
@@ -57,6 +58,8 @@ pub struct VerticalDataConfig {
 /// Data-channel construction failure.
 #[derive(Clone, Copy, Debug, Eq, PartialEq)]
 pub enum DataChannelError {
+    /// Rejected profiles must not construct a physical telemetry channel.
+    NotTelemetryProfile,
     /// A configured channel must be due at least once per second.
     ZeroRate,
     /// A configured channel exceeds the service frequency.
@@ -92,7 +95,10 @@ where
         vertical: VerticalDataConfig,
         sources: DataSources<'a>,
     ) -> Result<Self, DataChannelError> {
-        let schedule = Schedule::from_rates(config.data_channel)?;
+        let telemetry = config
+            .telemetry()
+            .ok_or(DataChannelError::NotTelemetryProfile)?;
+        let schedule = Schedule::from_rates(telemetry.data_channel)?;
         Ok(Self {
             sink,
             encoder: MavlinkEncoder::new(config.mavlink.system_id, config.mavlink.component_id),
@@ -114,7 +120,7 @@ where
     /// No schedule token escapes this method. It refreshes cached vertical
     /// observations, selects due data, encodes the MAVLink message, and admits
     /// it with the correct bounded-queue class.
-    pub fn on_service_tick(&mut self, imu_healthy: bool, motors_armed: bool) {
+    pub fn on_service_tick(&mut self, system_status: MavState, motors_armed: bool) {
         self.refresh_vertical_data();
 
         match self.schedule.next_due() {
@@ -148,14 +154,7 @@ where
             }
             Some(DueData::Heartbeat) => self.sink.send(
                 FrameClass::Critical,
-                self.encoder.heartbeat(
-                    if imu_healthy {
-                        MavState::MAV_STATE_STANDBY
-                    } else {
-                        MavState::MAV_STATE_CRITICAL
-                    },
-                    motors_armed,
-                ),
+                self.encoder.heartbeat(system_status, motors_armed),
             ),
             Some(DueData::Distance | DueData::OpticalFlow) | None => {}
         }
@@ -281,7 +280,7 @@ mod tests {
     };
     use kaptan_board::{BoardConfig, DataChannelRates, MavlinkEndpoint, VerticalSensingKind};
     use kaptan_dma::TxCompletion;
-    use kaptan_mavlink::{MavlinkFrame, transmitter::FrameClass};
+    use kaptan_mavlink::{MavlinkFrame, message::MavState, transmitter::FrameClass};
     use kaptan_sensor::{
         imu::ImuSnapshot, optical_flow::OpticalFlowSnapshot, range::RangeSnapshot,
     };
@@ -312,14 +311,16 @@ mod tests {
             system_id: 1,
             component_id: 1,
         },
-        vertical_sensing: VerticalSensingKind::RangeAndOpticalFlow,
-        data_channel: DataChannelRates {
-            service_hz: 100,
-            raw_imu_hz: 20,
-            range_hz: Some(20),
-            optical_flow_hz: Some(20),
-            heartbeat_hz: 2,
-        },
+        profile: kaptan_board::BoardProfile::TelemetryOnly(kaptan_board::TelemetryProfile {
+            vertical_sensing: VerticalSensingKind::RangeAndOpticalFlow,
+            data_channel: DataChannelRates {
+                service_hz: 100,
+                raw_imu_hz: 20,
+                range_hz: Some(20),
+                optical_flow_hz: Some(20),
+                heartbeat_hz: 2,
+            },
+        }),
     };
 
     #[test]
@@ -367,7 +368,7 @@ mod tests {
                 100,
                 100,
             ));
-            channel.on_service_tick(true, false);
+            channel.on_service_tick(MavState::MAV_STATE_STANDBY, false);
         }
         channel.on_dma_complete(TxCompletion::Complete);