feat(board): declare immutable telemetry policy

boards/geprc-f722-v2/src/board.rs

@@ -1,8 +1,8 @@
 //! Declarative support for the GEPRC TAKER F722 BLS 60A V2 stack.
 
 use kaptan_board::{
-    BoardConfig, BoardProfile, DataChannelRates, MavlinkEndpoint, TelemetryProfile,
-    VerticalSensingKind,
+    BoardConfig, BoardProfile, DataChannelRates, ImuDevice, ImuMount, MavlinkEndpoint, MavlinkPort,
+    Severity, TelemetryProfile, VerticalSensingKind,
 };
 use platform_stm32f7::{
     BoardError, F7Board, F7BoardBuilder, F722BoardRoutes, Icm42688, Mavlink, Pc3, VerticalSensor,
@@ -17,8 +17,12 @@ impl F7Board for GeprcF722V2 {
         mavlink: MavlinkEndpoint {
             system_id: 1,
             component_id: 1,
+            port: MavlinkPort::Serial2,
+            baud: 115_200,
         },
         profile: BoardProfile::TelemetryOnly(TelemetryProfile {
+            imu: ImuDevice::Icm42688,
+            imu_mount: ImuMount::Yaw180,
             vertical_sensing: VerticalSensingKind::None,
             data_channel: DataChannelRates {
                 service_hz: 100,
@@ -27,6 +31,7 @@ impl F7Board for GeprcF722V2 {
                 optical_flow_hz: None,
                 heartbeat_hz: 2,
             },
+            maximum_log_level: Severity::Info,
         }),
     };
 

boards/kakute-f7-mini-v3/src/board.rs

@@ -5,8 +5,8 @@
 //! belong to the STM32F7 platform crate.
 
 use kaptan_board::{
-    BoardConfig, BoardProfile, DataChannelRates, MavlinkEndpoint, TelemetryProfile,
-    VerticalSensingKind,
+    BoardConfig, BoardProfile, DataChannelRates, ImuDevice, ImuMount, MavlinkEndpoint, MavlinkPort,
+    Severity, TelemetryProfile, VerticalSensingKind,
 };
 use platform_stm32f7::{
     BoardError, F7Board, F7BoardBuilder, F722BoardRoutes, Mavlink, Mpu6000, Pa4, VerticalSensor,
@@ -20,8 +20,12 @@ const CONFIG: BoardConfig = BoardConfig {
     mavlink: MavlinkEndpoint {
         system_id: 1,
         component_id: 1,
+        port: MavlinkPort::Serial1,
+        baud: 115_200,
     },
     profile: BoardProfile::TelemetryOnly(TelemetryProfile {
+        imu: ImuDevice::Mpu6000,
+        imu_mount: ImuMount::BodyAligned,
         vertical_sensing: VerticalSensingKind::RangeAndOpticalFlow,
         data_channel: DataChannelRates {
             service_hz: 100,
@@ -30,6 +34,7 @@ const CONFIG: BoardConfig = BoardConfig {
             optical_flow_hz: Some(20),
             heartbeat_hz: 2,
         },
+        maximum_log_level: Severity::Info,
     }),
 };