refactor(firmware): remove the retired simulation workflow

Remove the retired simulator workspace member, dependencies, workflow
and documentation. Keep the shared flight and hardware crates.

Validation: retirement prefix host check, command-dispatch tests and
book build.

docs/book.toml

@@ -1,6 +1,6 @@
 [book]
 title = "Kaptan documentation"
-description = "Architecture, board bring-up, simulation, and contributor guidance for Kaptan."
+description = "Architecture, board bring-up, and contributor guidance for Kaptan."
 authors = ["Kaptan contributors"]
 language = "en"
 src = "src"

docs/src/SUMMARY.md

@@ -12,5 +12,4 @@
 - [Boards](boards/index.md)
   - [Kakute F7 Mini V3](boards/kakute-f7-mini-v3.md)
   - [GEPRC GEP-F722-HD V2](boards/geprc-f722-v2.md)
-- [Host SITL](sitl.md)
 - [Reference](reference.md)

docs/src/architecture.md

@@ -55,10 +55,9 @@ one complete replacement candidate. The core distinguishes only immutable
 boot-active values from the latest committed values. A save cannot mutate
 controller or estimator state in flight.
 
-Target-owned stores use private persistence formats. SITL atomically replaces a
-bounded CBOR snapshot. F722 alternates compact `KCSP` snapshots between two
-erase sectors, retaining only the old and replacement records across the commit
-boundary. Neither format is exposed as the public KCFG file.
+Target-owned stores use private persistence formats. F722 alternates compact
+`KCSP` snapshots between two erase sectors, retaining only the old and
+replacement records across the commit boundary. That format is not exposed as the public KCFG file.
 Motor allocation/mixer topology is immutable compiled vehicle capability data,
 never a scalar field or persistence member. F722 recovers operational settings
 before constructing consumers. Its local USB CDC-ACM and directly wired UART

docs/src/configuration.md

@@ -10,8 +10,6 @@ parameter catalog.
 
 | Deployment | Configuration consumed today | Remote writes |
 | --- | --- | --- |
-| `kaptan-sitl serve --config FILE.cbor` | One validated Quad-X configuration at process construction. | No live file endpoint is attached yet. |
-| `kaptan-sitl serve` | The validated factory Quad-X configuration. | No persistent store. |
 | STM32F722 image | Board factory settings, or the newest valid flash-journal snapshot. | `/config/user.kcfg` over local USB CDC-ACM or the directly wired UART while motor pins remain inhibited. |
 
 ## Web configurator
@@ -171,16 +169,7 @@ be exposed safely.
 
 ## Private persistence
 
-SITL and F722 use target-appropriate private persistence. Neither private
-format is the public KCFG artifact.
-
-### SITL CBOR
-
-SITL stores one bounded CBOR snapshot keyed by stable `FieldId`. Saving writes
-a same-directory temporary file, synchronizes it, and atomically renames it
-over the configured file. The exact map rejects unknown, duplicate, and missing
-fields, wrong schema or format, trailing input, invalid scalar encodings, and
-complete-model validation failures.
+F722 uses private persistence separate from the public KCFG artifact.
 
 ### F722 flash journal
 

docs/src/development.md

@@ -10,8 +10,7 @@ directory path to that directory's Makefile.
 The standard `--` ends Make's own options. Every following argument uses the
 selected application's native command line. For example,
 `make firmware -- test --workspace --locked --offline` runs `cargo test
---workspace --locked --offline` from `firmware`, while
-`make firmware/tools/sitl -- ready` runs `kaptan-sim ready`. Board paths are
+--workspace --locked --offline` from `firmware`. Board paths are
 the complete build-and-package command, so they need no invented operation
 name.
 
@@ -37,7 +36,7 @@ make firmware -- clippy \
 `make firmware docs` builds Rust API documentation with warnings denied.
 `make docs` checks and builds the separate mdBook project. `make pre-commit`
 runs both documentation checks along with repository formatting, host and
-embedded Clippy, Rust and script tests, and SITL structure tests. `make check`
+embedded Clippy, Rust and script tests. `make check`
 adds a whitespace check. `make build` builds and packages release firmware and
 builds the mdBook project.
 
@@ -53,16 +52,3 @@ The strict gate requires 100% line and branch coverage for `kaptan-math`,
 core package's coverage artifacts, unions LCOV source-line records, and uses
 full LLVM source spans to merge generic branch instantiations without lowering
 the gate.
-
-## Simulation acceptance
-
-```sh
-cd firmware/tools/sitl
-python3 world-structure-test.py
-python3 -m unittest test_kaptan_sim.py
-./e2e-smoke.sh
-```
-
-The Docker smoke is intentionally separate from host unit tests because it
-builds the pinned base images, Rust binary, Gazebo plugin, and full loopback
-plant.

docs/src/errors.md

@@ -79,7 +79,7 @@ different reportable error is already pending.
   The message kind itself identifies an error; no level is duplicated in the
   payload. Dynamic human-readable context belongs in `LOG`, while
   structured protocol failures remain in their owning response message.
-- Control, navigation, safety, and simulator error types are derive-ready but
+- Control, navigation, and safety error types are derive-ready but
   their live owners are not yet attached to a MAVLink worker.
 
 F722 still uses `panic-halt`; it does not claim a live panic frame or

docs/src/getting-started.md

@@ -33,7 +33,6 @@ target-specific commands in [Development and verification](development.md).
 | `firmware/boards/` | Board-owned user schemas, factory values, immutable hardware declarations, and image composition roots. |
 | `firmware/platforms/stm32f7/` | Reviewed F722 RTIC platform, peripheral ownership, and shared linker layout. |
 | `firmware/libs/` | Typed math, estimation, control, safety, protocol, and driver crates. |
-| `firmware/tools/sitl/` | Host-only closed-loop Gazebo simulation. |
 | `firmware/tools/configurator/` | Board-agnostic loopback web UI and serial bridge. |
 | `docs/` | This Markdown documentation site. |
 

docs/src/index.md

@@ -2,8 +2,7 @@
 
 Kaptan is an embedded Rust flight-controller project. This manual is the
 single source of project documentation: board support, safety boundaries,
-simulation, development workflow, and design references live here as
-Markdown.
+development workflow, and design references live here as Markdown.
 
 > **Status:** the checked-in firmware is telemetry-only. It does not expose
 > physical motor authority, and this site does not make a physical-flight
@@ -14,7 +13,6 @@ Markdown.
 - New contributors should read [Getting started](getting-started.md).
 - Firmware source and its Rust workspace begin in `firmware/`.
 - Board work belongs under [Boards](boards/index.md).
-- The currently supported closed-loop simulation is [Host SITL](sitl.md).
 - [Configuration](configuration.md) explains target-described user settings
   and immutable F722 hardware policy.
 - [Logs](logs.md) and [Errors](errors.md) describe the custom MAVLink
@@ -29,7 +27,7 @@ only defines the firmware workspace boundary. Keep pages in Markdown, add each
 page to `SUMMARY.md`, and place commands beside the assumptions and safety
 boundary they depend on.
 
-The current configuration contract is target-described. A SITL Quad-X profile
-and each F722 board expose only values consumed by that compiled target;
-physical F722 hardware selection remains immutable board policy. No writable
+The current configuration contract is target-described. Each F722 board exposes
+only values consumed by that compiled target. Physical F722 hardware selection
+remains immutable board policy. No writable
 snapshot can bypass an immutable safety decision.

docs/src/logs.md

@@ -78,11 +78,6 @@ named choices to the configurator, so the UI carries no hardcoded field list.
 Only the MAVLink adapter converts the five event levels to the typed Kaptan
 wire enum.
 
-The log ingress is transport-neutral and unfiltered. The tested
-`SitlConfigRuntime` composition applies the configured MAVLink policy when
-fanning an event into that sink and proves `kaptan_log::info!` reaches a
-generated `LOG` payload.
-`kaptan-sitl serve` does not yet attach a file/diagnostic MAVLink link. F722
-images accept the unsigned Kaptan file service on local USB CDC-ACM and their
-directly wired UART; that physical-link assumption does not extend to a shared
+The log ingress is transport-neutral and unfiltered. F722 images accept the
+unsigned Kaptan file service on local USB CDC-ACM and their directly wired UART; that physical-link assumption does not extend to a shared
 or remote MAVLink network.

docs/src/reference.md

@@ -4,7 +4,6 @@ This page collects stable limits and points to the detailed contracts.
 
 | Surface | Current contract |
 | --- | --- |
-| SITL file | One raw bounded CBOR configuration snapshot, replaced through a same-directory temporary file and atomic rename. |
 | F722 persistence | One bounded native-width scalar snapshot inside each slot of a power-loss-safe two-slot flash journal. |
 | Public config artifact | One canonical self-describing KCFG file containing generated metadata, factory values, and the complete committed candidate. |
 | File transfer | Custom `FILE_CONTROL` (51025) and `FILE_DATA` (51026), one owner-bound stop-and-wait transfer, 246-byte data chunks, CRC-32C. |

docs/src/sitl.md

@@ -1,59 +0,0 @@
-# Host SITL
-
-Host SITL is Kaptan's deterministic closed-loop simulation tier. Gazebo sends
-simulated IMU and declared noisy local position/velocity observations over a
-private loopback protocol. The Rust process runs the ESKF, safety supervisor,
-trajectory, controller, and allocator, then returns four virtual motor
-fractions to Gazebo.
-
-It is a pre-bench software gate, not a physical-flight validation.
-
-## Run the closed loop
-
-```sh
-docker compose -f firmware/tools/sitl/compose.yaml up -d --build
-make firmware/tools/sitl -- ready
-make firmware/tools/sitl -- move 5 3 1 --wait
-make firmware/tools/sitl -- land 0 0 --wait
-docker compose -f firmware/tools/sitl/compose.yaml down
-```
-
-For the reproducible command-path gate, use:
-
-```sh
-firmware/tools/sitl/e2e-smoke.sh
-```
-
-The smoke scenario verifies ascent, translation, descent, landing, flat-plane
-proximity, and zero applied motor fractions after landing. Its reference world
-contains only a visual landing pad; the pad has no collision geometry and
-never contributes a controller or truth observation.
-
-Open <https://app.gazebosim.org/visualization>, connect to
-`ws://localhost:9002`, and leave authorization blank to view the world.
-
-## Quad-X profile
-
-SITL starts through the central `ConfigManager` lifecycle. Create and validate
-a private host profile file with:
-
-```sh
-kaptan-sitl config write-default kaptan-sitl.cbor
-kaptan-sitl config validate kaptan-sitl.cbor
-kaptan-sitl serve --config kaptan-sitl.cbor
-```
-
-The file selects the restart-only profile used to build the estimator,
-controller, allocator envelope, safety supervisor, and MAVLink log-sink policy at
-process start. It is local persistence and never appears on MAVLink.
-`kaptan-sitl serve` retains
-the central manager for that boot but does not yet open a MAVLink file/log
-endpoint; see [Configuration](configuration.md) for the KCFG, file-transfer,
-and safety boundaries.
-
-## Limits
-
-This model does not validate terrain, vision, flow/range sensing, wind,
-vibration, battery/ESC behavior, sensor latency/jitter, actuator faults, or
-physical touchdown sensing. Add those only as a reviewed sensor/contact model,
-not as a display-only shortcut.