refactor(firmware): centralize configuration and diagnostics

firmware/libs/kaptan-control/src/lib.rs

@@ -292,7 +292,7 @@ impl RatePid {
 /// Position, velocity, and acceleration reference in the local NED frame.
 ///
 /// The reference is generated continuously. A caller must not replace it with
-/// a position step merely because an operator requested a distant goal.
+/// a position step merely because a user requested a distant goal.
 #[derive(Clone, Copy, Debug, PartialEq)]
 pub struct KinematicReference {
     /// Local NED position in metres.