refactor(firmware): centralize configuration and diagnostics

firmware/libs/kaptan-flight-config/src/profile/control.rs

@@ -1,14 +1,13 @@
-use kaptan_config::{ConfigValidate, ConfigViolation, ValidationRule};
+use kaptan_config::{Config, ConfigViolation, ValidationRule};
 
 use super::ids;
 
-#[derive(Clone, Copy, ConfigValidate)]
+#[derive(Clone, Copy, Config)]
 pub(super) struct AidingCandidate {
     #[config(
         id = 6,
         key = "aiding.position_variance_m2",
         unit = "m2",
-        default = 0.04,
         finite,
         range(min = 0.000_001, max = 10_000.0)
     )]
@@ -17,20 +16,18 @@ pub(super) struct AidingCandidate {
         id = 7,
         key = "aiding.velocity_variance_m2ps2",
         unit = "m2/s2",
-        default = 0.04,
         finite,
         range(min = 0.000_001, max = 10_000.0)
     )]
     pub(super) velocity_variance_m2_per_second_squared: f32,
 }
 
-#[derive(Clone, Copy, ConfigValidate)]
+#[derive(Clone, Copy, Config)]
 pub(super) struct ControlCandidate {
     #[config(
         id = 8,
         key = "control.position_gain_per_s2",
         unit = "1/s2",
-        default = 0.8,
         finite,
         range(min = 0.0, max = 100.0)
     )]
@@ -39,7 +36,6 @@ pub(super) struct ControlCandidate {
         id = 9,
         key = "control.velocity_gain_per_s",
         unit = "1/s",
-        default = 1.2,
         finite,
         range(min = 0.0, max = 100.0)
     )]
@@ -48,7 +44,6 @@ pub(super) struct ControlCandidate {
         id = 10,
         key = "control.maximum_horizontal_acceleration_mps2",
         unit = "m/s2",
-        default = 3.0,
         finite,
         range(min = 0.001, max = 100.0)
     )]
@@ -57,7 +52,6 @@ pub(super) struct ControlCandidate {
         id = 11,
         key = "control.maximum_upward_acceleration_mps2",
         unit = "m/s2",
-        default = 2.0,
         finite,
         range(min = 0.001, max = 100.0)
     )]
@@ -66,20 +60,18 @@ pub(super) struct ControlCandidate {
         id = 12,
         key = "control.maximum_downward_acceleration_mps2",
         unit = "m/s2",
-        default = 2.0,
         finite,
         range(min = 0.001, max = 100.0)
     )]
     pub(super) maximum_downward_acceleration_mps2: f32,
 }
-#[derive(Clone, Copy, ConfigValidate)]
+#[derive(Clone, Copy, Config)]
 #[config(post = Self::validate_thrust)]
 pub(super) struct ThrustCandidate {
     #[config(
         id = 13,
         key = "thrust.mass_kg",
         unit = "kg",
-        default = 1.2,
         finite,
         range(min = 0.01, max = 100.0)
     )]
@@ -88,7 +80,6 @@ pub(super) struct ThrustCandidate {
         id = 14,
         key = "thrust.maximum_collective_thrust_n",
         unit = "N",
-        default = 18.0,
         finite,
         range(min = 0.1, max = 10_000.0)
     )]
@@ -97,7 +88,6 @@ pub(super) struct ThrustCandidate {
         id = 15,
         key = "thrust.maximum_tilt_tangent",
         unit = "",
-        default = 0.700_207_53,
         finite,
         range(min = 0.001, max = 10.0)
     )]
@@ -116,14 +106,13 @@ impl ThrustCandidate {
     }
 }
 
-#[derive(Clone, Copy, ConfigValidate)]
+#[derive(Clone, Copy, Config)]
 #[config(post = Self::validate_pid)]
 pub(super) struct PidCandidate {
     #[config(
         id = 16,
         key = "control.rate_pid.proportional",
         unit = "",
-        default = 0.035,
         finite,
         range(min = 0.0, max = 10.0)
     )]
@@ -132,7 +121,6 @@ pub(super) struct PidCandidate {
         id = 17,
         key = "control.rate_pid.integral",
         unit = "",
-        default = 0.006,
         finite,
         range(min = 0.0, max = 10.0)
     )]
@@ -141,7 +129,6 @@ pub(super) struct PidCandidate {
         id = 18,
         key = "control.rate_pid.derivative",
         unit = "",
-        default = 0.0,
         finite,
         range(min = 0.0, max = 10.0)
     )]
@@ -150,7 +137,6 @@ pub(super) struct PidCandidate {
         id = 19,
         key = "control.rate_pid.output_limit",
         unit = "",
-        default = 0.10,
         finite,
         range(min = 0.001, max = 1.0)
     )]
@@ -159,7 +145,6 @@ pub(super) struct PidCandidate {
         id = 20,
         key = "control.rate_pid.integral_limit",
         unit = "",
-        default = 0.025,
         finite,
         range(min = 0.0, max = 1.0)
     )]
@@ -178,14 +163,13 @@ impl PidCandidate {
     }
 }
 
-#[derive(Clone, Copy, ConfigValidate)]
+#[derive(Clone, Copy, Config)]
 #[config(post = Self::validate_actuator_limits)]
 pub(super) struct ActuatorLimitsCandidate {
     #[config(
         id = 21,
         key = "actuator.minimum",
         unit = "",
-        default = 0.0,
         finite,
         range(min = 0.0, max = 1.0)
     )]
@@ -194,7 +178,6 @@ pub(super) struct ActuatorLimitsCandidate {
         id = 22,
         key = "actuator.maximum",
         unit = "",
-        default = 1.0,
         finite,
         range(min = 0.0, max = 1.0)
     )]
@@ -203,7 +186,6 @@ pub(super) struct ActuatorLimitsCandidate {
         id = 23,
         key = "actuator.slew_per_second",
         unit = "1/s",
-        default = 8.0,
         finite,
         range(min = 0.001, max = 100.0)
     )]