feat(mavlink): adopt the kaptan-native dialect

firmware/platforms/stm32f7/src/f722/data_channel.rs

@@ -1,11 +1,10 @@
 //! F722 transport and vertical-route adapters for the portable data channel.
 
-use super::{VerticalRoute, peripherals};
-use kaptan_data_channel::{FrameSink, VerticalDataConfig};
+use super::peripherals;
+use kaptan_data_channel::FrameSink;
 use kaptan_dma::TxCompletion;
 use kaptan_mavlink::{
     MavlinkFrame,
-    encoder::DistanceSensorConfig,
     transmitter::{EnqueueResult, FrameClass, MavlinkTransmitter},
 };
 
@@ -23,39 +22,6 @@ pub(crate) const SERVICE_TIMER_CONFIG: peripherals::Tim2PeriodicConfig =
         auto_reload: 99,
     };
 
-/// Maps a selected vertical electrical route to configured data-channel metadata.
-///
-/// The values are telemetry descriptions only; they neither calibrate a flight
-/// estimator nor authorize an `ExternalControlOnly` profile.
-pub(crate) fn vertical_data_config(route: VerticalRoute) -> VerticalDataConfig {
-    let distance =
-        |minimum_distance_centimetres, maximum_distance_centimetres| DistanceSensorConfig {
-            sensor_id: 0,
-            orientation:
-                kaptan_mavlink::message::MavSensorOrientation::MAV_SENSOR_ROTATION_PITCH_270,
-            minimum_distance_centimetres,
-            maximum_distance_centimetres,
-        };
-
-    match route {
-        VerticalRoute::None => VerticalDataConfig {
-            distance: None,
-            optical_flow_sensor_id: None,
-            maximum_age_ticks: 10,
-        },
-        VerticalRoute::Mtf01 => VerticalDataConfig {
-            distance: Some(distance(2, 800)),
-            optical_flow_sensor_id: Some(0),
-            maximum_age_ticks: 10,
-        },
-        VerticalRoute::LidarLiteV3 => VerticalDataConfig {
-            distance: Some(distance(20, 4_000)),
-            optical_flow_sensor_id: None,
-            maximum_age_ticks: 10,
-        },
-    }
-}
-
 /// The two F722 DMA engines behind the portable data-channel transport.
 enum F722MavlinkTransport {
     Usart1(MavlinkTransmitter<peripherals::DcacheDisabledDmaMemory, peripherals::Usart1TxDma, 4>),