feat(log): add bounded diagnostic transport

libs/kaptan-navigation/Cargo.toml

@@ -15,6 +15,7 @@ default = []
 # executable. It is not part of a board build.
 sitl = ["dep:kaptan-sensor"]
 [dependencies]
+kaptan-log = { path = "../kaptan-log" }
 kaptan-math = { path = "../kaptan-math" }
 kaptan-sensor = { path = "../kaptan-sensor", optional = true }
 kaptan-time = { path = "../kaptan-time" }

libs/kaptan-navigation/src/eskf.rs

@@ -1,5 +1,6 @@
 //! Fixed-size multiplicative error-state Kalman filter.
 
+use kaptan_log::KaptanError;
 use kaptan_math::{Frd, MathError, Ned, Sensor, UnitQuaternion, Vector3, sqrt};
 use kaptan_time::Timestamp;
 
@@ -205,7 +206,7 @@ pub struct EstimatorHealth {
 }
 
 /// Propagation failure that leaves the nominal state unchanged.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+#[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum PropagationError {
     /// An IMU observation was invalid or was not calibrated into FRD.
     InvalidImu,
@@ -228,7 +229,7 @@ pub enum PropagationError {
 }
 
 /// Aiding fusion refusal with no nominal-state update.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+#[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum FusionError {
     /// Observation is not at this filter's current history time.
     TimestampMismatch,