feat(diagnostics): split error and shutdown messages

docs/src/architecture.md

@@ -63,15 +63,17 @@ persistence, authenticated ingress, durable audit logging, disarmed
 activation, and atomic consumer reconstruction remain separate reviewed work
 and cannot be implied by a valid CBOR file or CRC.
 
-The MAVLink dialect root includes `kaptan/config.xml` and `kaptan/log.xml`.
+The MAVLink dialect root includes `kaptan/config.xml`, `kaptan/log.xml`,
+`kaptan/error.xml`, and `kaptan/shutdown.xml`.
 The build watches every fragment and generates one `message::kaptan` module;
 fragments are never separately generated Rust modules. `kaptan-log` itself has
 no MAVLink, platform, time, allocation, filesystem, or configuration
 dependency. It assigns bounded Critical and BestEffort queues for text logs.
-The platform drains a record only after TX admission; the diagnostic wire
+The platform drains a record only after TX admission. `KAPTAN_LOG` carries
-contract deliberately contains only severity, flags, bounded text length, and
+severity plus one bounded text field; `KAPTAN_ERROR` carries flags plus bounded
-text. Local saturation accounting remains inside the hub, facade, and producer
+path and additional-information fields. Local saturation accounting remains
-mailboxes; heartbeat and safety telemetry remain separate from diagnostic text.
+inside the hub, facade, and producer mailboxes; heartbeat and safety telemetry
+remain separate from diagnostics.
 
 See [Configuration](configuration.md) for the deployment matrix and GCS upload
 contract, [Logs](logs.md) for the receiver contract, and [Errors](errors.md)

docs/src/errors.md

@@ -11,10 +11,10 @@ enum SensorError {
 ```
 
 The derive implements `core::error::Error`, `Display`, and `ErrorReport`. It
-creates a bounded human-facing `module::Type::Variant` message without
+creates a static `module::Type::Variant` error path without allocating,
-allocating, publishing telemetry, exposing generic source values, or changing
+publishing telemetry, exposing generic source values, or changing safety
-safety state. Renaming a module, type, or variant changes that text; it is not
+state. Renaming a module, type, or variant changes that path; it is not a
-a stable machine protocol identity.
+stable machine protocol identity.
 
 Normal-task code may use `log::error!("{error}")`; it is routed as a bounded
 `KAPTAN_ERROR`. ISR-adjacent flight paths may enqueue the derived static
@@ -26,17 +26,22 @@ for safety state, actuator inhibit, or typed configuration results.
 - Configuration writes receive authoritative structured failures through
   `KAPTAN_CONFIG_RESULT`: operation, lifecycle state, field IDs, validation
   rule, and protocol error code.
-- Runtime driver and link faults reach the F722 MAVLink worker as
+- Runtime driver and link faults reach the F722 MAVLink worker as a
-  `KAPTAN_ERROR` text, subject to bounded transport admission. The message
+  `KAPTAN_ERROR` path, subject to bounded transport admission. The error
-  carries no per-error numeric catalog: a `KaptanError` derive supplies its
+  payload is `{ flags, path_length, additional_information_length, path[96],
-  type/variant display identity.
+  additional_information[64] }`; each length identifies the valid UTF-8
+  prefix and the optional information field may be empty. A `KaptanError`
+  derive supplies the type/variant path and normally leaves additional
+  information empty. `log::error!` uses the Rust log target as the path and
+  the formatted message as additional information.
 - A rejected configuration operation may enqueue a companion `KAPTAN_ERROR`
-  containing the high-level `ProtocolError` identity. It is intentionally not
+  whose path is the high-level `ProtocolError` identity. It is intentionally
-  correlated and carries no field/rule detail; the matching
+  not correlated and carries no field/rule detail; the matching
   `KAPTAN_CONFIG_RESULT` remains the sole precise authority.
 - Control, navigation, safety, and simulator error types are derive-ready but
   their live owners are not yet attached to a MAVLink worker.
-- `KAPTAN_SHUTDOWN` represents only a future completed orderly,
+- `KAPTAN_SHUTDOWN`, defined in `definitions/kaptan/shutdown.xml`, represents
+  only a future completed orderly,
   output-inhibited shutdown. It is not a shutdown request, panic, hard-fault,
   reset, or retention-record protocol. F722 still uses `panic-halt`; it does
   not claim a live panic frame or retained-record replay.

docs/src/logs.md

@@ -18,28 +18,35 @@ messages later.
 
 ## Receiver contract
 
-`definitions/kaptan/log.xml` separates ordinary logs from errors:
+`definitions/kaptan/log.xml`, `definitions/kaptan/error.xml`, and
+`definitions/kaptan/shutdown.xml` separate ordinary logs, errors, and
+orderly-shutdown observations:
 
 ```text
 KAPTAN_LOG { level, flags, message_length, message[160] }
-KAPTAN_ERROR { flags, message_length, message[160] }
+KAPTAN_ERROR {
+  flags, path_length, additional_information_length,
+  path[96], additional_information[64]
+}
 KAPTAN_SHUTDOWN { reason }
 ```
 
-A receiver generated from the same `kaptan.xml` revision validates
+A GCS decoder generated from the same `kaptan.xml` revision must validate
-`message_length <= 160` and decodes exactly that UTF-8 prefix. `KAPTAN_LOG`
+`message_length <= 160` for `KAPTAN_LOG`, and `path_length <= 96` plus
-displays its text at the MAVLink severity in `level`; `TRACE` is encoded as
+`additional_information_length <= 64` for `KAPTAN_ERROR`, before slicing the
-`DEBUG` plus the `TRACE` flag. `KAPTAN_ERROR` is error-only and accepts only
+fixed arrays into UTF-8 prefixes. Generated MAVLink framing alone does not
-`TRUNCATED` and `COALESCED`; a `TRACE` bit is never emitted there. Unknown
+enforce these semantic length fields. `KAPTAN_LOG` displays its text at the
-future flag bits must be ignored.
+MAVLink severity in `level`; `TRACE` is encoded as `DEBUG` plus the `TRACE`
+flag.
+`KAPTAN_ERROR` is error-only and accepts only `TRUNCATED` and `COALESCED`; a
+`TRACE` bit is never emitted there. Unknown future flag bits must be ignored.
 
-The derived error display text is intentionally not a numeric error catalog;
+The derived error path is intentionally not a numeric error catalog; renaming
-renaming its Rust module/type/variant changes the display identity. Error
+its Rust module/type/variant changes that identity. Error details requiring
-details requiring machine action stay in their owning protocol, notably
+machine action stay in their owning protocol, notably `KAPTAN_CONFIG_RESULT`.
-`KAPTAN_CONFIG_RESULT`. `KAPTAN_SHUTDOWN` has only its typed reason and is
+`KAPTAN_SHUTDOWN` has only its typed reason and is valid only after an orderly
-valid only after an orderly output-inhibited completion. Delivery is bounded
+output-inhibited completion. Delivery is bounded and lossy under link pressure;
-and lossy under link pressure; heartbeat and safety telemetry use separate
+heartbeat and safety telemetry use separate paths.
-paths.
 
 ## Filtering
 

docs/src/mavlink.md

@@ -19,8 +19,9 @@ replace pending best-effort traffic, but never the DMA-owned active buffer.
 Completion retries preserve ordering and retain a transiently busy frame for a
 later service turn.
 
-The custom Kaptan configuration and log definitions are aggregated by
+The custom Kaptan definitions are aggregated by `definitions/kaptan.xml` from
-`definitions/kaptan.xml` from `kaptan/config.xml` and `kaptan/log.xml`.
+`kaptan/config.xml`, `kaptan/log.xml`, `kaptan/error.xml`, and
+`kaptan/shutdown.xml`.
 `KAPTAN_LOG` is an outbound human-readable four-field record. `KAPTAN_ERROR`
 is its separate bounded error channel, while `KAPTAN_SHUTDOWN` represents only
 a completed orderly output-inhibited shutdown. Configuration messages are GCS

docs/src/reference.md

@@ -8,7 +8,7 @@ This page collects stable limits and points to the detailed contracts.
 | SITL file | Private `[generation, raw-profile-blob]` envelope; not a MAVLink upload blob. |
 | Config transaction | One owner-bound RAM transaction; typed writes or 192-byte idempotent CBOR chunks; commit is restart-required. |
 | Config discovery | Correlated `KAPTAN_CONFIG_INFO_REQUEST` / `KAPTAN_CONFIG_INFO`, then descriptor/value requests. |
-| Diagnostics | `KAPTAN_LOG` (51020) for ordinary severity/text, `KAPTAN_ERROR` (51021) for bounded errors, and `KAPTAN_SHUTDOWN` (51022) for completed orderly output-inhibited shutdowns. |
+| Diagnostics | `KAPTAN_LOG` (51020) for ordinary severity/text; `KAPTAN_ERROR` (51021) for a bounded `{ path[96], additional_information[64] }` error; and `KAPTAN_SHUTDOWN` (51022) for completed orderly output-inhibited shutdowns. |
 | F722 configuration | Immutable compiled board policy only; inbound MAVLink configuration remains disabled. |
 
 Read [Configuration](configuration.md) for the field/consumer matrix and GCS

libs/kaptan-config-mavlink/src/protocol.rs

@@ -180,9 +180,10 @@ mod tests {
         let record = hub.peek().expect("rejection is retained");
         assert_eq!(record.channel(), RecordChannel::Error);
         assert_eq!(
-            record.message().as_str(),
+            record.error_path().unwrap().as_str(),
             "kaptan_config_mavlink::protocol::ProtocolError::BadState"
         );
+        assert!(record.additional_information().unwrap().is_empty());
 
         let accepted = ConfigReply {
             result: ResultKind::Accepted,

libs/kaptan-log-derive/src/lib.rs

@@ -47,15 +47,15 @@ fn expand(input: DeriveInput) -> Result<proc_macro2::TokenStream, Error> {
         };
         quote! {
             #pattern => {
-                static MESSAGE: ::kaptan_log::StaticErrorMessage =
+                static ERROR: ::kaptan_log::StaticError =
-                    ::kaptan_log::StaticErrorMessage::new(concat!(
+                    ::kaptan_log::StaticError::new(concat!(
                         module_path!(),
                         "::",
                         stringify!(#ident),
                         "::",
                         stringify!(#variant_ident),
                     ));
-                &MESSAGE
+                &ERROR
             }
         }
     });
@@ -70,7 +70,7 @@ fn expand(input: DeriveInput) -> Result<proc_macro2::TokenStream, Error> {
 
     Ok(quote! {
         impl #impl_generics ::kaptan_log::ErrorReport for #ident #type_generics #where_clause {
-            fn error_message(&self) -> &'static ::kaptan_log::StaticErrorMessage {
+            fn static_error(&self) -> &'static ::kaptan_log::StaticError {
                 match self {
                     #(#arms),*
                 }
@@ -83,7 +83,7 @@ fn expand(input: DeriveInput) -> Result<proc_macro2::TokenStream, Error> {
                 formatter: &mut ::core::fmt::Formatter<'_>,
             ) -> ::core::fmt::Result {
                 formatter.write_str(
-                    <Self as ::kaptan_log::ErrorReport>::error_message(self).as_str(),
+                    <Self as ::kaptan_log::ErrorReport>::static_error(self).path(),
                 )
             }
         }

libs/kaptan-log-derive/tests/ui/enum.rs

@@ -2,20 +2,30 @@ extern crate self as kaptan_log;
 
 use kaptan_log_derive::KaptanError;
 
-pub struct StaticErrorMessage(&'static str);
+pub struct StaticError {
+    path: &'static str,
+    additional_information: &'static str,
+}
 
-impl StaticErrorMessage {
+impl StaticError {
     pub const fn new(text: &'static str) -> Self {
-        Self(text)
+        Self {
+            path: text,
+            additional_information: "",
+        }
     }
 
-    pub const fn as_str(&self) -> &'static str {
+    pub const fn path(&self) -> &'static str {
-        self.0
+        self.path
+    }
+
+    pub const fn additional_information(&self) -> &'static str {
+        self.additional_information
     }
 }
 
 pub trait ErrorReport {
-    fn error_message(&self) -> &'static StaticErrorMessage;
+    fn static_error(&self) -> &'static StaticError;
 }
 
 #[derive(Debug, KaptanError)]
@@ -32,11 +42,11 @@ fn main() {
     fn assert_error<T: core::error::Error>() {}
     assert_error::<Generic<'_, u8>>();
     assert_eq!(
-        Generic::<u8>::Unit.error_message().as_str(),
+        Generic::<u8>::Unit.static_error().path(),
         concat!(module_path!(), "::Generic::Unit"),
     );
     assert_eq!(
-        Generic::Tuple(1_u8, 2).error_message().as_str(),
+        Generic::Tuple(1_u8, 2).static_error().path(),
         concat!(module_path!(), "::Generic::Tuple"),
     );
     let named: Generic<'_, u8> = Generic::Named { label: "test" };
@@ -44,4 +54,9 @@ fn main() {
         named.to_string(),
         concat!(module_path!(), "::Generic::Named"),
     );
+    assert_eq!(
+        named.static_error().additional_information(),
+        "",
+        "derives emit identity only; callers own optional context",
+    );
 }

libs/kaptan-log-mavlink/src/lib.rs

@@ -9,7 +9,7 @@
 #[cfg(test)]
 extern crate std;
 
-use kaptan_log::{LogRecord, RecordChannel, ShutdownReason, ShutdownReport};
+use kaptan_log::{LogRecord, LogText, RecordChannel, ShutdownReason, ShutdownReport};
 use kaptan_mavlink::message::kaptan::{
     KAPTAN_ERROR_DATA, KAPTAN_LOG_DATA, KAPTAN_SHUTDOWN_DATA, KaptanErrorFlags, KaptanLogFlags,
     KaptanShutdownReason,
@@ -17,6 +17,10 @@ use kaptan_mavlink::message::kaptan::{
 
 /// Exact capacity of the fixed text field in [`KAPTAN_LOG_DATA`].
 pub const LOG_MESSAGE_BYTES: usize = 160;
+/// Exact capacity of the fixed error identity path field.
+pub const ERROR_PATH_BYTES: usize = 96;
+/// Exact capacity of the fixed error additional-information field.
+pub const ERROR_ADDITIONAL_INFORMATION_BYTES: usize = 64;
 
 /// One generated diagnostic payload. A platform-owned link remains the sole
 /// MAVLink framing, admission, DMA, and retry owner.
@@ -34,21 +38,59 @@ pub enum DiagnosticPayload {
 /// MAVLink. `RecordChannel` is the only routing decision: ordinary records
 /// become `KAPTAN_LOG`, while error-or-higher records become `KAPTAN_ERROR`.
 pub fn encode_diagnostic(record: &LogRecord) -> DiagnosticPayload {
-    let message = record.message();
-    debug_assert!(usize::from(message.len()) <= LOG_MESSAGE_BYTES);
     match record.channel() {
-        RecordChannel::Log => DiagnosticPayload::Log(KAPTAN_LOG_DATA {
+        RecordChannel::Log => {
+            let message = record
+                .message()
+                .expect("log channel must contain ordinary message text");
+            debug_assert!(usize::from(message.len()) <= LOG_MESSAGE_BYTES);
+            DiagnosticPayload::Log(KAPTAN_LOG_DATA {
                 level: record.severity() as u8,
                 flags: KaptanLogFlags::from_bits_retain(record.flags().bits()),
                 message_length: message.len(),
                 message: *message.bytes(),
-        }),
+            })
-        RecordChannel::Error => DiagnosticPayload::Error(KAPTAN_ERROR_DATA {
-            flags: KaptanErrorFlags::from_bits_retain(record.flags().error_bits()),
-            message_length: message.len(),
-            message: *message.bytes(),
-        }),
         }
+        RecordChannel::Error => {
+            let path = record
+                .error_path()
+                .expect("error channel must contain an identity path");
+            let additional_information = record
+                .additional_information()
+                .expect("error channel must contain additional-information storage");
+            let (path, path_length, path_clipped) = project_text::<ERROR_PATH_BYTES>(path);
+            let (additional_information, additional_information_length, information_clipped) =
+                project_text::<ERROR_ADDITIONAL_INFORMATION_BYTES>(additional_information);
+            let mut flags = record.flags().error_bits();
+            if path_clipped || information_clipped {
+                flags |= KaptanErrorFlags::KAPTAN_ERROR_FLAG_TRUNCATED.bits();
+            }
+            DiagnosticPayload::Error(KAPTAN_ERROR_DATA {
+                flags: KaptanErrorFlags::from_bits_retain(flags),
+                path_length,
+                additional_information_length,
+                path,
+                additional_information,
+            })
+        }
+    }
+}
+
+fn project_text<const N: usize>(text: &LogText) -> ([u8; N], u8, bool) {
+    let source = text.as_str();
+    let retained = source
+        .char_indices()
+        .take_while(|(index, character)| index + character.len_utf8() <= N)
+        .map(|(index, character)| index + character.len_utf8())
+        .last()
+        .unwrap_or(0);
+    let mut bytes = [0; N];
+    bytes[..retained].copy_from_slice(&source.as_bytes()[..retained]);
+    (
+        bytes,
+        retained as u8,
+        text.is_truncated() || retained != source.len(),
+    )
 }
 
 /// Encodes one typed shutdown event. The caller owns when a shutdown is safe
@@ -66,10 +108,13 @@ pub const fn encode_shutdown(report: ShutdownReport) -> KAPTAN_SHUTDOWN_DATA {
 mod tests {
     use std::sync::Once;
 
-    use super::{DiagnosticPayload, LOG_MESSAGE_BYTES, encode_diagnostic, encode_shutdown};
+    use super::{
+        DiagnosticPayload, ERROR_ADDITIONAL_INFORMATION_BYTES, ERROR_PATH_BYTES, LOG_MESSAGE_BYTES,
+        encode_diagnostic, encode_shutdown,
+    };
     use kaptan_log::{
-        EventHub, FacadeIngress, GlobalLogger, LogFilter, LogFlags, LogRecord, LogText, Severity,
+        ErrorAdditionalInformation, ErrorPath, EventHub, FacadeIngress, GlobalLogger, LogFilter,
-        ShutdownReason, ShutdownReport,
+        LogFlags, LogRecord, LogText, Severity, ShutdownReason, ShutdownReport,
     };
     use kaptan_mavlink::{
         encoder::MavlinkEncoder,
@@ -123,8 +168,12 @@ mod tests {
             panic!("log::error! must not produce KAPTAN_LOG");
         };
         assert!(
-            payload.message[..usize::from(payload.message_length)]
+            payload.path[..usize::from(payload.path_length)]
-                .ends_with(b"critical error survives")
+                .ends_with(b"kaptan_log_mavlink::tests")
+        );
+        assert_eq!(
+            &payload.additional_information[..usize::from(payload.additional_information_length)],
+            b"critical error survives"
         );
     }
 
@@ -153,19 +202,28 @@ mod tests {
         }
         assert_eq!(data.message.len(), LOG_MESSAGE_BYTES);
 
-        let error = LogRecord::new(
+        let error = LogRecord::error(
-            Severity::Error,
             LogFlags::TRACE.with(LogFlags::COALESCED),
-            LogText::from_message("driver::Error::Transfer"),
+            ErrorPath::from_message("driver::Error::Transfer"),
+            ErrorAdditionalInformation::new(),
         );
         let DiagnosticPayload::Error(error_data) = encode_diagnostic(&error) else {
             panic!("error record must use KAPTAN_ERROR");
         };
         assert_eq!(error_data.flags.bits(), LogFlags::COALESCED.bits());
-        assert_eq!(error_data.message_length, 23);
+        assert_eq!(error_data.path_length, 23);
-        assert_eq!(KAPTAN_ERROR_DATA::ENCODED_LEN, 162);
+        assert_eq!(error_data.additional_information_length, 0);
+        assert_eq!(&error_data.path[..23], b"driver::Error::Transfer");
+        assert!(
+            error_data
+                .additional_information
+                .iter()
+                .all(|byte| *byte == 0)
+        );
+        assert_eq!(KAPTAN_ERROR_DATA::ENCODED_LEN, 163);
         let error_frame = encoder.custom(&error_data);
         assert_eq!(error_frame.message_id(), 51_021);
+        assert!(error_frame.raw_bytes().len() <= 175);
         assert!(matches!(
             MavMessage::parse(
                 mavlink::MavlinkVersion::V2,
@@ -176,6 +234,54 @@ mod tests {
         ));
     }
 
+    #[test]
+    fn error_wire_projection_clips_each_component_independently() {
+        let error = LogRecord::error(
+            LogFlags::NONE,
+            ErrorPath::from_message(&"p".repeat(LOG_MESSAGE_BYTES)),
+            ErrorAdditionalInformation::from_message(&"i".repeat(LOG_MESSAGE_BYTES)),
+        );
+        let DiagnosticPayload::Error(payload) = encode_diagnostic(&error) else {
+            panic!("error record must use KAPTAN_ERROR");
+        };
+        assert_eq!(usize::from(payload.path_length), ERROR_PATH_BYTES);
+        assert_eq!(
+            usize::from(payload.additional_information_length),
+            ERROR_ADDITIONAL_INFORMATION_BYTES
+        );
+        assert_eq!(payload.flags.bits(), LogFlags::TRUNCATED.bits());
+        assert_eq!(&payload.path, &[b'p'; ERROR_PATH_BYTES]);
+        assert_eq!(
+            &payload.additional_information,
+            &[b'i'; ERROR_ADDITIONAL_INFORMATION_BYTES]
+        );
+    }
+
+    #[test]
+    fn error_path_remains_decodable_when_only_additional_information_clips() {
+        let error = LogRecord::error(
+            LogFlags::NONE,
+            ErrorPath::from_message("kaptan::driver::Transfer"),
+            ErrorAdditionalInformation::from_message(&"é".repeat(80)),
+        );
+        let DiagnosticPayload::Error(payload) = encode_diagnostic(&error) else {
+            panic!("error record must use KAPTAN_ERROR");
+        };
+        assert_eq!(
+            core::str::from_utf8(&payload.path[..usize::from(payload.path_length)]),
+            Ok("kaptan::driver::Transfer")
+        );
+        assert_eq!(usize::from(payload.additional_information_length), 64);
+        assert!(
+            core::str::from_utf8(
+                &payload.additional_information
+                    [..usize::from(payload.additional_information_length)]
+            )
+            .is_ok()
+        );
+        assert!(payload.flags.bits() & LogFlags::TRUNCATED.bits() != 0);
+    }
+
     #[test]
     fn typed_shutdown_maps_to_its_sole_generated_message() {
         let data = encode_shutdown(ShutdownReport::new(ShutdownReason::Safety));

libs/kaptan-log/src/crash.rs

@@ -177,7 +177,7 @@ mod tests {
     #[test]
     fn validation_error_has_a_static_derived_message() {
         assert_eq!(
-            CrashRecordError::BadChecksum.error_message().as_str(),
+            CrashRecordError::BadChecksum.static_error().path(),
             "kaptan_log::crash::CrashRecordError::BadChecksum"
         );
     }

libs/kaptan-log/src/facade.rs

@@ -11,7 +11,10 @@ use core::{
 
 use log::{Level, LevelFilter, Log, Metadata, Record, SetLoggerError};
 
-use crate::{EventHub, LogFilter, LogFlags, LogText, PublishOutcome, Severity};
+use crate::{
+    ErrorAdditionalInformation, ErrorPath, EventHub, LogFilter, LogFlags, LogText, PublishOutcome,
+    Severity,
+};
 
 /// Saturating, process-local accounting for the optional global facade.
 ///
@@ -80,7 +83,30 @@ impl FacadeCounters {
 struct IngressRecord {
     severity: Severity,
     flags: LogFlags,
-    text: LogText,
+    body: IngressBody,
+}
+
+#[derive(Clone, Copy)]
+enum IngressBody {
+    Log {
+        message: LogText,
+    },
+    Error {
+        path: ErrorPath,
+        additional_information: ErrorAdditionalInformation,
+    },
+}
+
+impl IngressBody {
+    const fn is_truncated(self) -> bool {
+        match self {
+            Self::Log { message } => message.is_truncated(),
+            Self::Error {
+                path,
+                additional_information,
+            } => path.is_truncated() || additional_information.is_truncated(),
+        }
+    }
 }
 
 struct IngressQueue<const N: usize> {
@@ -206,7 +232,15 @@ impl<const N: usize> FacadeIngress<N> {
             Some(None) => self.with_queue(IngressQueue::pop).flatten()?,
             None => return None,
         };
-        Some(hub.publish_text(record.severity, record.flags, record.text))
+        Some(match record.body {
+            IngressBody::Log { message } => {
+                hub.publish_text(record.severity, record.flags, message)
+            }
+            IngressBody::Error {
+                path,
+                additional_information,
+            } => hub.publish_error_text(record.flags, path, additional_information),
+        })
     }
 
     fn with_critical<R>(
@@ -303,14 +337,30 @@ impl<const N: usize> Log for GlobalLogger<N> {
         } else {
             LogFlags::NONE
         };
-        let text = LogText::from_arguments(format_args!("[{}] {}", record.target(), record.args()));
+        let body = if severity <= Severity::Error {
-        if text.is_truncated() {
+            IngressBody::Error {
+                path: ErrorPath::from_message(record.target()),
+                additional_information: ErrorAdditionalInformation::from_arguments(format_args!(
+                    "{}",
+                    record.args()
+                )),
+            }
+        } else {
+            IngressBody::Log {
+                message: LogText::from_arguments(format_args!(
+                    "[{}] {}",
+                    record.target(),
+                    record.args()
+                )),
+            }
+        };
+        if body.is_truncated() {
             FacadeCounters::increment(&self.ingress.counters.truncated);
         }
         self.ingress.push(IngressRecord {
             severity,
             flags,
-            text,
+            body,
         });
     }
 
@@ -385,7 +435,11 @@ mod tests {
         let mut hub = EventHub::<1, 1>::new(LogFilter::default());
         assert!(INGRESS.drain_one_into(&mut hub).is_some());
         let pending = hub.peek().unwrap();
-        assert_eq!(pending.message().as_str(), "[test] link failed");
+        assert_eq!(pending.error_path().unwrap().as_str(), "test");
+        assert_eq!(
+            pending.additional_information().unwrap().as_str(),
+            "link failed"
+        );
         assert_eq!(pending.severity(), Severity::Error);
         assert_eq!(pending.channel(), RecordChannel::Error);
     }
@@ -408,6 +462,7 @@ mod tests {
             hub.peek()
                 .unwrap()
                 .message()
+                .unwrap()
                 .as_str()
                 .ends_with("armed configuration loaded")
         );
@@ -505,7 +560,8 @@ mod tests {
         assert!(INGRESS.drain_one_into(&mut hub).is_some());
         let error = hub.peek().expect("error retained ahead of optional text");
         assert_eq!(error.channel(), RecordChannel::Error);
-        assert_eq!(error.message().as_str(), "[test] critical");
+        assert_eq!(error.error_path().unwrap().as_str(), "test");
+        assert_eq!(error.additional_information().unwrap().as_str(), "critical");
         assert_eq!(INGRESS.health().full, 0);
     }
 }

libs/kaptan-log/src/hub.rs

@@ -3,8 +3,8 @@
 use core::fmt;
 
 use crate::{
-    DeliveryClass, ErrorReport, LogFilter, LogFlags, LogRecord, LogText, Severity,
+    DeliveryClass, ErrorAdditionalInformation, ErrorPath, ErrorReport, LogFilter, LogFlags,
-    StaticErrorMessage,
+    LogRecord, LogText, Severity, StaticError,
 };
 
 /// Outcome from one bounded diagnostic admission attempt.
@@ -164,7 +164,7 @@ impl<const CRITICAL: usize, const BEST_EFFORT: usize> EventHub<CRITICAL, BEST_EF
     /// Retains one static derived error without formatting or exposing source
     /// values. The adapter maps it to `KAPTAN_ERROR`.
     pub fn publish_error<E: ErrorReport>(&mut self, flags: LogFlags, error: &E) -> PublishOutcome {
-        self.publish_error_static(flags, error.error_message())
+        self.publish_error_static(flags, error.static_error())
     }
 
     /// Retains one static mailbox error. This is the ISR-safe counterpart to
@@ -172,15 +172,27 @@ impl<const CRITICAL: usize, const BEST_EFFORT: usize> EventHub<CRITICAL, BEST_EF
     pub fn publish_error_static(
         &mut self,
         flags: LogFlags,
-        message: &'static StaticErrorMessage,
+        error: &'static StaticError,
     ) -> PublishOutcome {
-        self.publish_text(
+        self.publish_error_text(
-            Severity::Error,
             flags,
-            LogText::from_message(message.text()),
+            ErrorPath::from_message(error.path()),
+            ErrorAdditionalInformation::from_message(error.additional_information()),
         )
     }
 
+    /// Retains a preformatted error identity and optional detail. Both
+    /// components stay transport-neutral here; the MAVLink adapter enforces
+    /// its independent on-wire capacities.
+    pub fn publish_error_text(
+        &mut self,
+        flags: LogFlags,
+        path: ErrorPath,
+        additional_information: ErrorAdditionalInformation,
+    ) -> PublishOutcome {
+        self.publish_record(LogRecord::error(flags, path, additional_information))
+    }
+
     /// Retains one preformatted bounded text payload. Error-or-higher
     /// severities are independently retained and sent as `KAPTAN_ERROR`.
     pub fn publish_text(
@@ -189,16 +201,16 @@ impl<const CRITICAL: usize, const BEST_EFFORT: usize> EventHub<CRITICAL, BEST_EF
         flags: LogFlags,
         text: LogText,
     ) -> PublishOutcome {
-        let delivery = if severity <= Severity::Error {
+        let delivery = delivery_for(severity);
-            DeliveryClass::Critical
-        } else {
-            DeliveryClass::BestEffort
-        };
         if delivery == DeliveryClass::BestEffort && !self.filter.allows(severity) {
             HubHealth::increment(&mut self.health.filtered);
             return PublishOutcome::Filtered;
         }
-        let record = LogRecord::new(severity, flags, text);
+        self.publish_record(LogRecord::new(severity, flags, text))
+    }
+
+    fn publish_record(&mut self, record: LogRecord) -> PublishOutcome {
+        let delivery = record.delivery();
         let outcome = match delivery {
             DeliveryClass::Critical => self.critical.publish(record, false),
             DeliveryClass::BestEffort => self.best_effort.publish(record, true),
@@ -250,11 +262,20 @@ impl<const CRITICAL: usize, const BEST_EFFORT: usize> EventHub<CRITICAL, BEST_EF
     }
 }
 
+fn delivery_for(severity: Severity) -> DeliveryClass {
+    if severity <= Severity::Error {
+        DeliveryClass::Critical
+    } else {
+        DeliveryClass::BestEffort
+    }
+}
+
 #[cfg(test)]
 mod tests {
     use super::{EventHub, PublishOutcome, TransportAdmission};
     use crate::{
-        DeliveryClass, LogFilter, LogFlags, LogText, RecordChannel, Severity, StaticErrorMessage,
+        DeliveryClass, ErrorAdditionalInformation, ErrorPath, LogFilter, LogFlags, LogText,
+        RecordChannel, Severity, StaticError,
     };
 
     #[test]
@@ -277,13 +298,14 @@ mod tests {
             PublishOutcome::Queued
         );
         let record = hub.peek().unwrap();
-        assert_eq!(record.message().as_str(), "error");
+        assert_eq!(record.error_path().unwrap().as_str(), "error");
+        assert!(record.additional_information().unwrap().is_empty());
         assert_eq!(record.channel(), RecordChannel::Error);
     }
 
     #[test]
     fn static_messages_and_repeats_are_bounded() {
-        static FAULT: StaticErrorMessage = StaticErrorMessage::new("driver fault");
+        static FAULT: StaticError = StaticError::new("driver::Fault");
         let mut hub = EventHub::<1, 1>::new(LogFilter::default());
         assert_eq!(
             hub.publish_error_static(LogFlags::NONE, &FAULT),
@@ -296,6 +318,45 @@ mod tests {
         let record = hub.peek().unwrap();
         assert_eq!(record.occurrences, 2);
         assert!(record.flags().contains(LogFlags::COALESCED));
+        assert_eq!(record.error_path().unwrap().as_str(), "driver::Fault");
+        assert!(record.additional_information().unwrap().is_empty());
+    }
+
+    #[test]
+    fn static_error_detail_needs_no_producer_formatting() {
+        static FAULT: StaticError =
+            StaticError::with_additional_information("driver::Dma::Fault", "stream 7");
+        let mut hub = EventHub::<1, 1>::new(LogFilter::default());
+        assert_eq!(
+            hub.publish_error_static(LogFlags::NONE, &FAULT),
+            PublishOutcome::Queued
+        );
+        let record = hub.peek().unwrap();
+        assert_eq!(record.error_path().unwrap().as_str(), "driver::Dma::Fault");
+        assert_eq!(
+            record.additional_information().unwrap().as_str(),
+            "stream 7"
+        );
+    }
+
+    #[test]
+    fn error_identity_and_detail_are_independent_record_components() {
+        let mut hub = EventHub::<1, 1>::new(LogFilter::default());
+        let _ = hub.publish_error_text(
+            LogFlags::NONE,
+            ErrorPath::from_message("driver::Icm42688::Transfer"),
+            ErrorAdditionalInformation::from_message("SPI DMA timeout"),
+        );
+        let record = hub.peek().unwrap();
+        assert_eq!(record.channel(), RecordChannel::Error);
+        assert_eq!(
+            record.error_path().unwrap().as_str(),
+            "driver::Icm42688::Transfer"
+        );
+        assert_eq!(
+            record.additional_information().unwrap().as_str(),
+            "SPI DMA timeout"
+        );
     }
 
     #[test]

libs/kaptan-log/src/lib.rs

@@ -29,11 +29,9 @@ pub use hub::{EventHub, HubHealth, PublishOutcome, TransportAdmission};
 pub use kaptan_log_derive::KaptanError;
 pub use level::Severity;
 pub use mailbox::StaticErrorMailbox;
-pub use report::{
+pub use report::{DeliveryClass, ErrorReport, LogFlags, LogRecord, RecordChannel, StaticError};
-    DeliveryClass, ErrorReport, LogFlags, LogRecord, RecordChannel, StaticErrorMessage,
-};
 pub use shutdown::{ShutdownReason, ShutdownReport};
-pub use text::{LogText, MAXIMUM_LOG_TEXT_BYTES};
+pub use text::{ErrorAdditionalInformation, ErrorPath, LogText, MAXIMUM_LOG_TEXT_BYTES};
 
 #[cfg(feature = "facade")]
 pub use facade::FacadeHealth;

libs/kaptan-log/src/mailbox.rs

@@ -5,7 +5,7 @@ use core::{
     sync::atomic::{AtomicBool, AtomicPtr, AtomicU32, Ordering},
 };
 
-use crate::StaticErrorMessage;
+use crate::StaticError;
 
 /// One source-local, single-attempt static-fault mailbox.
 ///
@@ -13,7 +13,7 @@ use crate::StaticErrorMessage;
 /// coalesced. They never loop, format, allocate, lock, or encode a frame. A
 /// worker drains the exact message pointer and flag later.
 pub struct StaticErrorMailbox {
-    message: AtomicPtr<StaticErrorMessage>,
+    error: AtomicPtr<StaticError>,
     coalesced: AtomicBool,
     coalesced_total: AtomicU32,
 }
@@ -22,19 +22,19 @@ impl StaticErrorMailbox {
     /// Creates an empty mailbox.
     pub const fn new() -> Self {
         Self {
-            message: AtomicPtr::new(ptr::null_mut()),
+            error: AtomicPtr::new(ptr::null_mut()),
             coalesced: AtomicBool::new(false),
             coalesced_total: AtomicU32::new(0),
         }
     }
 
     /// Records one static message with one bounded atomic attempt.
-    pub fn record(&self, message: &'static StaticErrorMessage) {
+    pub fn record(&self, error: &'static StaticError) {
         if self
-            .message
+            .error
             .compare_exchange(
                 ptr::null_mut(),
-                core::ptr::from_ref(message).cast_mut(),
+                core::ptr::from_ref(error).cast_mut(),
                 Ordering::AcqRel,
                 Ordering::Acquire,
             )
@@ -46,13 +46,13 @@ impl StaticErrorMailbox {
     }
 
     /// Removes the retained first message and its coalesced marker.
-    pub fn take(&self) -> (Option<&'static StaticErrorMessage>, bool) {
+    pub fn take(&self) -> (Option<&'static StaticError>, bool) {
-        let message = self.message.swap(ptr::null_mut(), Ordering::AcqRel);
+        let error = self.error.swap(ptr::null_mut(), Ordering::AcqRel);
         let coalesced = self.coalesced.swap(false, Ordering::AcqRel);
         // SAFETY: `record` stores only pointers to static messages and the
         // atomic swap transfers the exact pointer to this one worker.
-        let message = unsafe { message.as_ref() };
+        let error = unsafe { error.as_ref() };
-        (message, coalesced)
+        (error, coalesced)
     }
 
     /// Total later-fault coalesces since startup. This is local producer
@@ -81,12 +81,12 @@ impl Default for StaticErrorMailbox {
 #[cfg(test)]
 mod tests {
     use super::StaticErrorMailbox;
-    use crate::StaticErrorMessage;
+    use crate::StaticError;
 
     #[test]
     fn source_mailbox_keeps_the_first_static_message_and_marks_later_faults() {
-        static FIRST: StaticErrorMessage = StaticErrorMessage::new("first");
+        static FIRST: StaticError = StaticError::new("first");
-        static SECOND: StaticErrorMessage = StaticErrorMessage::new("second");
+        static SECOND: StaticError = StaticError::new("second");
         let mailbox = StaticErrorMailbox::new();
         mailbox.record(&FIRST);
         mailbox.record(&SECOND);

libs/kaptan-log/src/report.rs

@@ -1,37 +1,52 @@
 //! Bounded human-readable diagnostic records.
 
-use crate::{LogText, Severity};
+use crate::{ErrorAdditionalInformation, ErrorPath, LogText, Severity};
 
-/// Static message generated for one error type/variant.
+/// Static identity and optional detail for one error.
 #[derive(Clone, Copy, Debug, Eq, PartialEq)]
-pub struct StaticErrorMessage {
+pub struct StaticError {
-    text: &'static str,
+    path: &'static str,
+    additional_information: &'static str,
 }
 
-impl StaticErrorMessage {
+impl StaticError {
-    /// Creates one compile-time error message.
+    /// Creates one compile-time error identity without additional detail.
-    pub const fn new(text: &'static str) -> Self {
+    pub const fn new(path: &'static str) -> Self {
-        Self { text }
+        Self {
+            path,
+            additional_information: "",
+        }
     }
 
-    /// Stable human-readable message text.
+    /// Creates one compile-time error identity with static additional detail.
-    pub const fn text(self) -> &'static str {
+    pub const fn with_additional_information(
-        self.text
+        path: &'static str,
+        additional_information: &'static str,
+    ) -> Self {
+        Self {
+            path,
+            additional_information,
+        }
     }
 
-    /// Alias used by the error derive's [`core::fmt::Display`] implementation.
+    /// Stable human-readable error identity.
-    pub const fn as_str(self) -> &'static str {
+    pub const fn path(self) -> &'static str {
-        self.text
+        self.path
+    }
+
+    /// Optional static human-facing detail.
+    pub const fn additional_information(self) -> &'static str {
+        self.additional_information
     }
 }
 
 /// Implemented by [`crate::KaptanError`] derives.
 ///
-/// This trait is deliberately pure: obtaining a message never allocates,
+/// This trait is deliberately pure: obtaining error identity never allocates,
 /// publishes telemetry, changes safety state, or serializes generic sources.
 pub trait ErrorReport {
-    /// Returns the static type/variant message for this error value.
+    /// Returns static identity and optional detail for this error value.
-    fn error_message(&self) -> &'static StaticErrorMessage;
+    fn static_error(&self) -> &'static StaticError;
 }
 
 /// Bounded MAVLink log flags.
@@ -81,6 +96,17 @@ pub enum RecordChannel {
     Error,
 }
 
+#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+enum RecordBody {
+    Log {
+        message: LogText,
+    },
+    Error {
+        path: ErrorPath,
+        additional_information: ErrorAdditionalInformation,
+    },
+}
+
 /// Priority selected internally from a diagnostic level.
 #[derive(Clone, Copy, Debug, Eq, PartialEq)]
 pub enum DeliveryClass {
@@ -95,36 +121,58 @@ pub enum DeliveryClass {
 pub struct LogRecord {
     severity: Severity,
     flags: LogFlags,
-    message: LogText,
+    body: RecordBody,
-    channel: RecordChannel,
+    /// Adjacent equivalent diagnostics retained as one record.
-    /// Adjacent identical messages retained as one record.
     pub occurrences: u32,
-    delivery: DeliveryClass,
 }
 
 impl LogRecord {
-    /// Creates one bounded record. Error-or-higher severities use
+    /// Creates one bounded diagnostic record. Error-or-higher severities use
-    /// [`RecordChannel::Error`]; ordinary severity records use
+    /// their supplied text as the error path with no additional information;
-    /// [`RecordChannel::Log`].
+    /// ordinary severity records use `KAPTAN_LOG` message text.
-    pub fn new(severity: Severity, mut flags: LogFlags, message: LogText) -> Self {
+    pub fn new(severity: Severity, flags: LogFlags, message: LogText) -> Self {
-        if message.is_truncated() {
+        if severity <= Severity::Error {
-            flags = flags.with(LogFlags::TRUNCATED);
+            let flags = with_truncation(flags, message);
+            return Self::error_with_severity(
+                severity,
+                flags,
+                ErrorPath::from_message(message.as_str()),
+                ErrorAdditionalInformation::new(),
+            );
         }
         Self {
             severity,
-            flags,
+            flags: with_truncation(flags, message),
-            message,
+            body: RecordBody::Log { message },
-            channel: if severity <= Severity::Error {
+            occurrences: 1,
-                RecordChannel::Error
+        }
-            } else {
+    }
-                RecordChannel::Log
+
+    /// Creates an error-channel record with independently bounded identity
+    /// and optional additional information.
+    pub fn error(
+        flags: LogFlags,
+        path: ErrorPath,
+        additional_information: ErrorAdditionalInformation,
+    ) -> Self {
+        Self::error_with_severity(Severity::Error, flags, path, additional_information)
+    }
+
+    fn error_with_severity(
+        severity: Severity,
+        flags: LogFlags,
+        path: ErrorPath,
+        additional_information: ErrorAdditionalInformation,
+    ) -> Self {
+        debug_assert!(severity <= Severity::Error);
+        Self {
+            severity,
+            flags: flags_for_error(flags, path, additional_information),
+            body: RecordBody::Error {
+                path,
+                additional_information,
             },
             occurrences: 1,
-            delivery: if severity <= Severity::Error {
-                DeliveryClass::Critical
-            } else {
-                DeliveryClass::BestEffort
-            },
         }
     }
 
@@ -138,29 +186,53 @@ impl LogRecord {
         self.flags
     }
 
-    /// Fixed formatted text.
+    /// Fixed text carried by an ordinary `KAPTAN_LOG` record.
-    pub const fn message(&self) -> &LogText {
+    pub const fn message(&self) -> Option<&LogText> {
-        &self.message
+        match &self.body {
+            RecordBody::Log { message } => Some(message),
+            RecordBody::Error { .. } => None,
+        }
+    }
+
+    /// Fixed identity path carried by a `KAPTAN_ERROR` record.
+    pub const fn error_path(&self) -> Option<&ErrorPath> {
+        match &self.body {
+            RecordBody::Log { .. } => None,
+            RecordBody::Error { path, .. } => Some(path),
+        }
+    }
+
+    /// Fixed optional information carried by a `KAPTAN_ERROR` record.
+    pub const fn additional_information(&self) -> Option<&ErrorAdditionalInformation> {
+        match &self.body {
+            RecordBody::Log { .. } => None,
+            RecordBody::Error {
+                additional_information,
+                ..
+            } => Some(additional_information),
+        }
     }
 
     /// Custom MAVLink diagnostic family selected for this record.
     pub const fn channel(&self) -> RecordChannel {
-        self.channel
+        match self.body {
+            RecordBody::Log { .. } => RecordChannel::Log,
+            RecordBody::Error { .. } => RecordChannel::Error,
+        }
     }
 
     /// Internal admission priority.
     pub const fn delivery(&self) -> DeliveryClass {
-        self.delivery
+        match self.body {
+            RecordBody::Log { .. } => DeliveryClass::BestEffort,
+            RecordBody::Error { .. } => DeliveryClass::Critical,
+        }
     }
 
     /// Tests whether two pending records can coalesce without hiding a new
-    /// message, severity, or delivery class.
+    /// payload, severity, or delivery class.
     pub fn is_equivalent_to(&self, other: &Self) -> bool {
-        self.channel == other.channel
+        self.severity == other.severity && self.flags == other.flags && self.body == other.body
-            && self.severity == other.severity
-            && self.flags == other.flags
-            && self.message == other.message
-            && self.delivery == other.delivery
     }
 
     pub(crate) fn increment_occurrences(&mut self) {
@@ -168,3 +240,21 @@ impl LogRecord {
         self.flags = self.flags.with(LogFlags::COALESCED);
     }
 }
+
+fn with_truncation(mut flags: LogFlags, value: LogText) -> LogFlags {
+    if value.is_truncated() {
+        flags = flags.with(LogFlags::TRUNCATED);
+    }
+    flags
+}
+
+fn flags_for_error(
+    mut flags: LogFlags,
+    path: ErrorPath,
+    additional_information: ErrorAdditionalInformation,
+) -> LogFlags {
+    if path.is_truncated() || additional_information.is_truncated() {
+        flags = flags.with(LogFlags::TRUNCATED);
+    }
+    flags
+}

libs/kaptan-log/src/text.rs

@@ -1,11 +1,11 @@
-//! Fixed-capacity UTF-8 log text.
+//! Fixed-capacity UTF-8 diagnostic text.
 
 use core::fmt::{self, Write};
 
-/// Maximum UTF-8 bytes carried by one Kaptan log record.
+/// Maximum bytes retained in one transport-neutral diagnostic text component.
 pub const MAXIMUM_LOG_TEXT_BYTES: usize = 160;
 
-/// Bounded formatted text with an explicit truncation marker.
+/// Fixed UTF-8 diagnostic text with an explicit truncation marker.
 #[derive(Clone, Copy, Debug, Eq, PartialEq)]
 pub struct LogText {
     bytes: [u8; MAXIMUM_LOG_TEXT_BYTES],
@@ -13,8 +13,15 @@ pub struct LogText {
     truncated: bool,
 }
 
+/// Transport-neutral error identity path. The MAVLink adapter applies its
+/// separate 96-byte wire bound.
+pub type ErrorPath = LogText;
+/// Transport-neutral optional error detail. The MAVLink adapter applies its
+/// separate 64-byte wire bound.
+pub type ErrorAdditionalInformation = LogText;
+
 impl LogText {
-    /// Creates an empty bounded log message.
+    /// Creates empty fixed text storage.
     pub const fn new() -> Self {
         Self {
             bytes: [0; MAXIMUM_LOG_TEXT_BYTES],

libs/kaptan-mavlink/build.rs

@@ -5,7 +5,9 @@ fn main() {
     let dialect = manifest_directory.join("definitions/kaptan.xml");
     let config = manifest_directory.join("definitions/kaptan/config.xml");
     let log = manifest_directory.join("definitions/kaptan/log.xml");
-    for definition in [&dialect, &config, &log] {
+    let error = manifest_directory.join("definitions/kaptan/error.xml");
+    let shutdown = manifest_directory.join("definitions/kaptan/shutdown.xml");
+    for definition in [&dialect, &config, &log, &error, &shutdown] {
         println!("cargo::rerun-if-changed={}", definition.display());
     }
     println!("cargo::rustc-check-cfg=cfg(kaptan_has_messages)");

libs/kaptan-mavlink/definitions/kaptan.xml

@@ -4,4 +4,6 @@
        fragments so their message catalogs can evolve without a monolith. -->
   <include>kaptan/config.xml</include>
   <include>kaptan/log.xml</include>
+  <include>kaptan/error.xml</include>
+  <include>kaptan/shutdown.xml</include>
 </mavlink>

libs/kaptan-mavlink/definitions/kaptan/error.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<mavlink>
+  <version>3</version>
+  <dialect>0</dialect>
+  <!-- Kaptan-reserved development block. Register these IDs before release. -->
+  <enums>
+    <enum name="KAPTAN_ERROR_FLAGS" bitmask="true">
+      <entry value="2" name="KAPTAN_ERROR_FLAG_TRUNCATED">
+        <description>The path or additional-information UTF-8 prefix was truncated to its bounded on-wire field.</description>
+      </entry>
+      <entry value="4" name="KAPTAN_ERROR_FLAG_COALESCED">
+        <description>Error represents repeated adjacent observations with the same path and additional information.</description>
+      </entry>
+    </enum>
+  </enums>
+  <messages>
+    <message id="51021" name="KAPTAN_ERROR">
+      <description>Bounded derived or explicit runtime error. This is distinct from ordinary KAPTAN_LOG records. The display identity is generated from the Rust error type and variant when a KaptanError-derived value is available; structured configuration failures remain authoritative in KAPTAN_CONFIG_RESULT.</description>
+      <field type="uint8_t" name="flags" enum="KAPTAN_ERROR_FLAGS">Known bits are TRUNCATED=2 and COALESCED=4. Receivers ignore unknown future bits.</field>
+      <field type="uint8_t" name="path_length">Number of valid UTF-8 bytes in path; no more than 96.</field>
+      <field type="uint8_t" name="additional_information_length">Number of valid UTF-8 bytes in additional_information; no more than 64.</field>
+      <field type="uint8_t[96]" name="path">Bounded UTF-8 derived or explicit error path. Bytes after path_length are zero.</field>
+      <field type="uint8_t[64]" name="additional_information">Bounded UTF-8 optional error context. Bytes after additional_information_length are zero.</field>
+    </message>
+  </messages>
+</mavlink>

libs/kaptan-mavlink/definitions/kaptan/log.xml

@@ -15,22 +15,6 @@
         <description>Message represents repeated adjacent observations.</description>
       </entry>
     </enum>
-    <enum name="KAPTAN_ERROR_FLAGS" bitmask="true">
-      <entry value="2" name="KAPTAN_ERROR_FLAG_TRUNCATED">
-        <description>Error display text was truncated to the bounded on-wire buffer.</description>
-      </entry>
-      <entry value="4" name="KAPTAN_ERROR_FLAG_COALESCED">
-        <description>Error represents repeated adjacent observations.</description>
-      </entry>
-    </enum>
-    <enum name="KAPTAN_SHUTDOWN_REASON">
-      <entry value="1" name="KAPTAN_SHUTDOWN_REASON_OPERATOR">
-        <description>An operator initiated the completed controlled firmware shutdown.</description>
-      </entry>
-      <entry value="2" name="KAPTAN_SHUTDOWN_REASON_SAFETY">
-        <description>The safety owner initiated the completed controlled firmware shutdown.</description>
-      </entry>
-    </enum>
   </enums>
   <messages>
     <message id="51020" name="KAPTAN_LOG">
@@ -40,15 +24,5 @@
       <field type="uint8_t" name="message_length">Number of valid UTF-8 bytes in message; at most 160.</field>
       <field type="uint8_t[160]" name="message">Bounded UTF-8 message bytes. Bytes after message_length are zero.</field>
     </message>
-    <message id="51021" name="KAPTAN_ERROR">
-      <description>Bounded derived or explicit runtime error. This is distinct from ordinary KAPTAN_LOG records. The display identity is generated from the Rust error type and variant when a KaptanError-derived value is available; structured configuration failures remain authoritative in KAPTAN_CONFIG_RESULT.</description>
-      <field type="uint8_t" name="flags" enum="KAPTAN_ERROR_FLAGS">Known bits are TRUNCATED=2 and COALESCED=4. Receivers ignore unknown future bits.</field>
-      <field type="uint8_t" name="message_length">Number of valid UTF-8 bytes in message; at most 160.</field>
-      <field type="uint8_t[160]" name="message">Bounded UTF-8 error display identity. Bytes after message_length are zero.</field>
-    </message>
-    <message id="51022" name="KAPTAN_SHUTDOWN">
-      <description>Typed completed orderly firmware shutdown observation. It is emitted only after a platform coordinator has inhibited outputs. It is not a log record, a shutdown request, or a panic/hard-fault/reset report.</description>
-      <field type="uint8_t" name="reason" enum="KAPTAN_SHUTDOWN_REASON">Typed shutdown reason.</field>
-    </message>
   </messages>
 </mavlink>

libs/kaptan-mavlink/definitions/kaptan/shutdown.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<mavlink>
+  <version>3</version>
+  <dialect>0</dialect>
+  <!-- Kaptan-reserved development block. Register these IDs before release. -->
+  <enums>
+    <enum name="KAPTAN_SHUTDOWN_REASON">
+      <entry value="1" name="KAPTAN_SHUTDOWN_REASON_OPERATOR">
+        <description>An operator initiated the completed controlled firmware shutdown.</description>
+      </entry>
+      <entry value="2" name="KAPTAN_SHUTDOWN_REASON_SAFETY">
+        <description>The safety owner initiated the completed controlled firmware shutdown.</description>
+      </entry>
+    </enum>
+  </enums>
+  <messages>
+    <message id="51022" name="KAPTAN_SHUTDOWN">
+      <description>Typed completed orderly firmware shutdown observation. It is emitted only after a platform coordinator has inhibited outputs. It is not a log record, a shutdown request, or a panic/hard-fault/reset report.</description>
+      <field type="uint8_t" name="reason" enum="KAPTAN_SHUTDOWN_REASON">Typed shutdown reason.</field>
+    </message>
+  </messages>
+</mavlink>

platforms/stm32f7/src/f722/board.rs

@@ -18,8 +18,8 @@ use kaptan_drivers::{
     mtf01::Mtf01Service,
 };
 use kaptan_log::{
-    DeliveryClass, ErrorReport, EventHub, KaptanError, LogFilter, LogFlags, StaticErrorMailbox,
+    DeliveryClass, ErrorReport, EventHub, KaptanError, LogFilter, LogFlags, StaticError,
-    StaticErrorMessage, TransportAdmission,
+    StaticErrorMailbox, TransportAdmission,
 };
 use kaptan_log_mavlink::{DiagnosticPayload, encode_diagnostic};
 use kaptan_spi::SpiCompletion;
@@ -54,11 +54,11 @@ const KAPTAN_LOG_FRAME_MAXIMUM_BYTES: usize =
     kaptan_mavlink::message::kaptan::KAPTAN_LOG_DATA::ENCODED_LEN
         + MAVLINK_V2_UNSIGNED_OVERHEAD_BYTES;
 // The static F722 telemetry profile is bounded at 62 scheduled frames/s.
-// It permits ten `KAPTAN_ERROR` and five `KAPTAN_LOG` frames/s. Their maxima
+// It permits ten `KAPTAN_ERROR` and five `KAPTAN_LOG` frames/s. Both maxima
-// are respectively 162 and 163 payload bytes plus 12 unsigned MAVLink V2
+// are 163 payload bytes plus 12 unsigned MAVLink V2 framing bytes, so
-// framing bytes, so 62×48 + 10×174 + 5×175 = 5,591 bytes/s. MAVLink signing
+// 62×48 + 15×175 = 5,601 bytes/s. MAVLink signing is not enabled in this
-// is not enabled in this telemetry-only image; any future signing profile
+// telemetry-only image; any future signing profile must re-budget its
-// must re-budget its signature overhead before it can enable the endpoint.
+// signature overhead before it can enable the endpoint.
 pub(crate) const WORST_CASE_OBSERVABILITY_BYTES_PER_SECOND: usize = SCHEDULED_FRAMES_PER_SECOND
     * SCHEDULED_FRAME_MAXIMUM_BYTES
     + ERROR_RECORDS_PER_SECOND as usize * KAPTAN_ERROR_FRAME_MAXIMUM_BYTES
@@ -427,7 +427,7 @@ pub(crate) fn on_uart4_interrupt(mtf01: &mut Option<F722Mtf01>) {
         }
         ReceiveInterrupt::Fault => {
             mtf01.reset();
-            record_mtf01_fault(F722TelemetryError::Mtf01Uart.error_message());
+            record_mtf01_fault(F722TelemetryError::Mtf01Uart.static_error());
         }
         ReceiveInterrupt::NotPending => {}
     }
@@ -455,7 +455,7 @@ impl F722LidarState {
                 if self.startup_ticks == LIDAR_STARTUP_TICKS
                     && let Err(error) = range.finish_startup()
                 {
-                    record_lidar_fault(error.error_message());
+                    record_lidar_fault(error.static_error());
                 }
             } else {
                 publish_lidar_event(range.on_periodic_tick());
@@ -542,13 +542,13 @@ impl F722MavlinkState {
         while let Some(fault) = self.data_channel.take_transport_fault() {
             let message = match fault {
                 kaptan_mavlink::transmitter::TransmitFaultKind::Memory => {
-                    F722TelemetryError::TransmitMemory.error_message()
+                    F722TelemetryError::TransmitMemory.static_error()
                 }
                 kaptan_mavlink::transmitter::TransmitFaultKind::Engine => {
-                    F722TelemetryError::TransmitEngine.error_message()
+                    F722TelemetryError::TransmitEngine.static_error()
                 }
                 kaptan_mavlink::transmitter::TransmitFaultKind::Terminal => {
-                    F722TelemetryError::TransmitTerminal.error_message()
+                    F722TelemetryError::TransmitTerminal.static_error()
                 }
             };
             let _ = self.logs.publish_error_static(LogFlags::NONE, message);
@@ -634,19 +634,19 @@ pub fn record_mavlink_completion(completion: kaptan_dma::TxCompletion) {
 fn publish_lidar_event<E: ErrorReport>(event: LidarLiteV3ServiceEvent<E>) {
     match event {
         LidarLiteV3ServiceEvent::Measurement(snapshot) => RANGES.publish(snapshot),
-        LidarLiteV3ServiceEvent::Fault(error) => record_lidar_fault(error.error_message()),
+        LidarLiteV3ServiceEvent::Fault(error) => record_lidar_fault(error.static_error()),
         LidarLiteV3ServiceEvent::Idle => {}
     }
 }
 
-fn record_imu_fault(message: &'static StaticErrorMessage) {
+fn record_imu_fault(message: &'static StaticError) {
     IMU_FAULTS.record(message);
 }
 
-fn record_lidar_fault(message: &'static StaticErrorMessage) {
+fn record_lidar_fault(message: &'static StaticError) {
     LIDAR_FAULTS.record(message);
 }
 
-fn record_mtf01_fault(message: &'static StaticErrorMessage) {
+fn record_mtf01_fault(message: &'static StaticError) {
     MTF01_FAULTS.record(message);
 }

platforms/stm32f7/src/f722/sensors.rs

@@ -9,7 +9,7 @@ use kaptan_drivers::{
         Mpu6000Service, Mpu6000ServiceEvent,
     },
 };
-use kaptan_log::{ErrorReport, StaticErrorMessage};
+use kaptan_log::{ErrorReport, StaticError};
 use kaptan_sensor::imu::ImuSnapshot;
 use kaptan_spi::SpiCompletion;
 use stm32f7::stm32f722;
@@ -31,7 +31,7 @@ pub(crate) enum ImuEvent {
     Idle,
     Initialized,
     Sample(ImuSnapshot),
-    Fault(&'static StaticErrorMessage),
+    Fault(&'static StaticError),
 }
 
 /// Opaque owner of the selected F722 IMU service.
@@ -96,11 +96,11 @@ impl F722Imu {
         match &mut self.inner {
             F722ImuKind::Mpu6000(imu) => match imu.begin() {
                 Ok(()) => ImuEvent::Idle,
-                Err(error) => ImuEvent::Fault(error.error_message()),
+                Err(error) => ImuEvent::Fault(error.static_error()),
             },
             F722ImuKind::Icm42688(imu) => match imu.begin() {
                 Ok(()) => ImuEvent::Idle,
-                Err(error) => ImuEvent::Fault(error.error_message()),
+                Err(error) => ImuEvent::Fault(error.static_error()),
             },
         }
     }
@@ -134,7 +134,7 @@ fn mpu_event<E: ErrorReport>(event: Mpu6000ServiceEvent<E>) -> ImuEvent {
         Mpu6000ServiceEvent::Idle => ImuEvent::Idle,
         Mpu6000ServiceEvent::Initialized => ImuEvent::Initialized,
         Mpu6000ServiceEvent::Sample(sample) => ImuEvent::Sample(sample),
-        Mpu6000ServiceEvent::Fault(error) => ImuEvent::Fault(error.error_message()),
+        Mpu6000ServiceEvent::Fault(error) => ImuEvent::Fault(error.static_error()),
     }
 }
 
@@ -143,7 +143,7 @@ fn icm_event<E: ErrorReport>(event: Icm42688ServiceEvent<E>, mount: ImuMount) ->
         Icm42688ServiceEvent::Idle => ImuEvent::Idle,
         Icm42688ServiceEvent::Initialized => ImuEvent::Initialized,
         Icm42688ServiceEvent::Sample(sample) => ImuEvent::Sample(align_mount(sample, mount)),
-        Icm42688ServiceEvent::Fault(error) => ImuEvent::Fault(error.error_message()),
+        Icm42688ServiceEvent::Fault(error) => ImuEvent::Fault(error.static_error()),
     }
 }
 

platforms/stm32f7/tests/platform_safety_boundary.rs

@@ -4,7 +4,7 @@ use kaptan_board::{
     BoardConfig, BoardProfile, DataChannelRates, ImuDevice, ImuMount, MavlinkEndpoint, MavlinkPort,
     TelemetryProfile, VerticalSensingKind,
 };
-use kaptan_log::{LogFlags, LogRecord, LogText, Severity};
+use kaptan_log::{ErrorAdditionalInformation, ErrorPath, LogFlags, LogRecord, LogText, Severity};
 use kaptan_log_mavlink::{DiagnosticPayload, encode_diagnostic};
 use kaptan_mavlink::encoder::MavlinkEncoder;
 use platform_stm32f7::{
@@ -214,7 +214,11 @@ fn telemetry_has_no_inbound_command_authority() {
 fn f722_link_budget_uses_both_maximum_generated_diagnostic_frames() {
     let text = LogText::from_message(&"x".repeat(160));
     let log_record = LogRecord::new(Severity::Info, LogFlags::NONE, text);
-    let error_record = LogRecord::new(Severity::Error, LogFlags::NONE, text);
+    let error_record = LogRecord::error(
+        LogFlags::NONE,
+        ErrorPath::from_message(&"p".repeat(96)),
+        ErrorAdditionalInformation::from_message(&"i".repeat(64)),
+    );
     let mut encoder = MavlinkEncoder::new(1, 1);
     let DiagnosticPayload::Log(log_payload) = encode_diagnostic(&log_record) else {
         panic!("info record must use KAPTAN_LOG");
@@ -230,17 +234,20 @@ fn f722_link_budget_uses_both_maximum_generated_diagnostic_frames() {
         kaptan_mavlink::message::kaptan::KAPTAN_LOG_DATA::ENCODED_LEN,
         163
     );
-    assert_eq!(error_frame.raw_bytes().len(), 174);
+    assert_eq!(error_frame.raw_bytes().len(), 175);
     assert_eq!(
         kaptan_mavlink::message::kaptan::KAPTAN_ERROR_DATA::ENCODED_LEN,
-        162
+        163
     );
+    assert_eq!(error_payload.path_length, 96);
+    assert_eq!(error_payload.additional_information_length, 64);
+    assert_eq!(error_payload.flags.bits(), LogFlags::NONE.bits());
     assert_eq!(
         62 * 48 + 10 * error_frame.raw_bytes().len() + 5 * log_frame.raw_bytes().len(),
-        5_591
+        5_601
     );
     let board = platform_source("src/f722/board.rs");
     assert!(board.contains("KAPTAN_ERROR_FRAME_MAXIMUM_BYTES"));
     assert!(board.contains("KAPTAN_LOG_FRAME_MAXIMUM_BYTES"));
-    assert!(board.contains("5,591 bytes/s"));
+    assert!(board.contains("5,601 bytes/s"));
 }

tools/sitl/src/config/tests.rs

@@ -345,11 +345,12 @@ fn rejected_config_result_enqueues_a_separate_high_level_error_payload() {
     let Some(DiagnosticPayload::Error(payload)) = service.pending_diagnostic_payload() else {
         panic!("rejected configuration result must enqueue KAPTAN_ERROR");
     };
-    let message = std::str::from_utf8(&payload.message[..usize::from(payload.message_length)])
+    let error_path = std::str::from_utf8(&payload.path[..usize::from(payload.path_length)])
-        .expect("derived error identity remains UTF-8");
+        .expect("derived error path remains UTF-8");
     assert_eq!(
-        message,
+        error_path,
         "kaptan_config_mavlink::protocol::ProtocolError::GenerationConflict"
     );
+    assert_eq!(payload.additional_information_length, 0);
     let _ = fs::remove_file(&path);
 }