feat(mavlink): adopt the kaptan-native dialect

firmware/libs/kaptan-flight-config/src/cbor.rs

@@ -173,6 +173,8 @@ where
 {
     match value {
         ConfigValue::Bool(value) => encoder.bool(value)?,
+        ConfigValue::U8(value) => encoder.u8(value)?,
+        ConfigValue::U16(value) => encoder.u16(value)?,
         ConfigValue::I32(value) => encoder.i32(value)?,
         ConfigValue::U32(value) => encoder.u32(value)?,
         ConfigValue::U64(value) => encoder.u64(value)?,
@@ -185,6 +187,8 @@ where
 fn decode_value(decoder: &mut Decoder<'_>, kind: ValueKind) -> Result<ConfigValue, CborError> {
     match kind {
         ValueKind::Bool => decoder.bool().map(ConfigValue::Bool),
+        ValueKind::U8 => decoder.u8().map(ConfigValue::U8),
+        ValueKind::U16 => decoder.u16().map(ConfigValue::U16),
         ValueKind::I32 => decoder.i32().map(ConfigValue::I32),
         ValueKind::U32 => decoder.u32().map(ConfigValue::U32),
         ValueKind::U64 => decoder.u64().map(ConfigValue::U64),
@@ -224,7 +228,7 @@ mod tests {
     }
 
     #[test]
-    fn encoding_rejects_a_cross_field_invalid_transaction_before_writing() {
+    fn encoding_rejects_a_cross_field_invalid_candidate_before_writing() {
         let capabilities = VehicleCapabilities::quad_x();
         let mut candidate = CandidateProfile::factory();
         candidate

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

@@ -229,7 +229,7 @@ impl ConfigModel for CandidateProfile {
     }
 
     fn field_count() -> u16 {
-        u16::try_from(Self::FIELD_COUNT).expect("field registry exceeds the protocol limit")
+        u16::try_from(Self::FIELD_COUNT).expect("field registry exceeds the artifact limit")
     }
 
     fn field_value(&self, id: FieldId) -> Option<ConfigValue> {
@@ -263,8 +263,8 @@ mod tests {
         assert_eq!(
             crate::SCHEMA_ID,
             [
-                0xa1, 0x4c, 0x28, 0xba, 0x08, 0xc0, 0xfd, 0xc3, 0xe2, 0x54, 0x7d, 0x77, 0x40, 0x3c,
-                0xed, 0x94,
+                0xb9, 0x8b, 0xf9, 0xa0, 0x62, 0x3f, 0x6e, 0xef, 0x4e, 0x88, 0xc6, 0xd8, 0x89, 0x4c,
+                0x76, 0x8b,
             ]
         );
     }
@@ -355,7 +355,7 @@ mod tests {
         candidate
             .set_field(
                 descriptor_id("mavlink.logging.level_filter"),
-                ConfigValue::U32(LevelFilter::Off.wire_value().into()),
+                ConfigValue::U8(LevelFilter::Off.wire_value()),
             )
             .unwrap();
         let active = candidate.validate(&CAPABILITIES).unwrap();
@@ -363,7 +363,7 @@ mod tests {
         candidate
             .set_field(
                 descriptor_id("mavlink.logging.level_filter"),
-                ConfigValue::U32(LevelFilter::Trace.wire_value().into()),
+                ConfigValue::U8(LevelFilter::Trace.wire_value()),
             )
             .unwrap();
         assert_eq!(
@@ -373,7 +373,7 @@ mod tests {
         assert!(matches!(
             candidate.set_field(
                 descriptor_id("mavlink.logging.level_filter"),
-                ConfigValue::U32(6),
+                ConfigValue::U8(6),
             ),
             Err(FieldWriteError::Violation(issue))
                 if issue.rule() == ValidationRule::InvalidEnumValue
@@ -387,7 +387,7 @@ mod tests {
             candidate
                 .set_field(
                     descriptor_id("mavlink.logging.level_filter"),
-                    ConfigValue::U32(raw),
+                    ConfigValue::U8(raw),
                 )
                 .expect("descriptor accepts the stable level filter");
             assert_eq!(
@@ -395,7 +395,7 @@ mod tests {
                     .validate(&CAPABILITIES)
                     .expect("valid complete profile")
                     .mavlink_logging(),
-                LevelFilter::try_from_wire(u8::try_from(raw).unwrap()).unwrap()
+                LevelFilter::try_from_wire(raw).unwrap()
             );
         }
     }