feat(firmware): validate configuration and migrate sensor-driven flight APIs

Validate configuration through its owning schemas and keep board
declarations separate from shared F722 resource ownership. Bound USB
transitions, isolate transport failures and retain restart-only activation.

Migrate navigation and flight consumers with the sensor and schema
contracts. Require explicit installation data and synchronous output
authority; board motor outputs remain inhibited.

Validation: assembled-prefix host tests, strict Clippy, platform/USB tests
and both ARM release builds. Final-source coverage and scoped Miri/Kani
evidence are retained separately from hardware qualification.

firmware/Cargo.lock

@@ -52,6 +52,7 @@ checksum = "8ec610d8f49840a5b376c69663b6369e71f4b34484b9b2eb29fb918d92516cb9"
 dependencies = [
  "bare-metal",
  "bitfield",
+ "critical-section",
  "embedded-hal",
  "volatile-register",
 ]
@@ -222,6 +223,7 @@ dependencies = [
 name = "kaptan-data-channel"
 version = "0.1.0"
 dependencies = [
+ "critical-section",
  "kaptan-err-reportable",
  "kaptan-mavlink",
  "kaptan-sensor",
@@ -239,10 +241,6 @@ dependencies = [
  "kaptan-mavlink",
 ]
 
-[[package]]
-name = "kaptan-dma"
-version = "0.1.0"
-
 [[package]]
 name = "kaptan-drivers"
 version = "0.1.0"
@@ -283,9 +281,9 @@ name = "kaptan-flight-config"
 version = "0.1.0"
 dependencies = [
  "kaptan-config",
- "kaptan-err-reportable",
- "kaptan-log",
- "minicbor",
+ "kaptan-control",
+ "kaptan-math",
+ "kaptan-navigation",
 ]
 
 [[package]]
@@ -293,15 +291,18 @@ name = "kaptan-flight-runtime"
 version = "0.1.0"
 dependencies = [
  "kaptan-config",
+ "kaptan-control",
  "kaptan-flight-config",
- "kaptan-log",
+ "kaptan-math",
+ "kaptan-navigation",
+ "kaptan-safety",
+ "kaptan-time",
 ]
 
 [[package]]
 name = "kaptan-geprc-f722-v2"
 version = "0.1.0"
 dependencies = [
- "kaptan-config",
  "platform-stm32f7",
  "rtic",
 ]
@@ -309,12 +310,14 @@ dependencies = [
 [[package]]
 name = "kaptan-i2c"
 version = "0.1.0"
+dependencies = [
+ "kaptan-time",
+]
 
 [[package]]
 name = "kaptan-kakute-f7-mini-v3"
 version = "0.1.0"
 dependencies = [
- "kaptan-config",
  "platform-stm32f7",
  "rtic",
 ]
@@ -338,11 +341,8 @@ name = "kaptan-mavlink"
 version = "0.1.0"
 dependencies = [
  "bitflags",
- "kaptan-dma",
- "kaptan-err-reportable",
  "kaptan-sensor",
  "kaptan-time",
- "kaptan-tx",
  "mavlink-bindgen",
  "mavlink-core",
  "num-derive",
@@ -353,12 +353,18 @@ dependencies = [
 name = "kaptan-navigation"
 version = "0.1.0"
 dependencies = [
- "kaptan-err-reportable",
  "kaptan-math",
  "kaptan-sensor",
  "kaptan-time",
 ]
 
+[[package]]
+name = "kaptan-ports"
+version = "0.1.0"
+dependencies = [
+ "kaptan-config",
+]
+
 [[package]]
 name = "kaptan-safety"
 version = "0.1.0"
@@ -424,26 +430,6 @@ version = "2.8.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cf8baf1c55e62ffcace7a9f06f4bd9cd3f0c4beb022d3b367256b91b87513d98"
 
-[[package]]
-name = "minicbor"
-version = "0.25.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c0452a60c1863c1f50b5f77cd295e8d2786849f35883f0b9e18e7e6e1b5691b0"
-dependencies = [
- "minicbor-derive",
-]
-
-[[package]]
-name = "minicbor-derive"
-version = "0.15.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bd2209fff77f705b00c737016a48e73733d7fbccb8b007194db148f03561fb70"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 2.0.119",
-]
-
 [[package]]
 name = "nb"
 version = "0.1.3"
@@ -491,16 +477,17 @@ version = "0.1.0"
 dependencies = [
  "cortex-m",
  "cortex-m-rt",
+ "critical-section",
  "kaptan-config",
  "kaptan-data-channel",
  "kaptan-diagnostics-mavlink",
- "kaptan-dma",
  "kaptan-drivers",
  "kaptan-err-reportable",
  "kaptan-file-mavlink",
  "kaptan-i2c",
  "kaptan-log",
  "kaptan-mavlink",
+ "kaptan-ports",
  "kaptan-sensor",
  "kaptan-spi",
  "kaptan-time",
@@ -724,10 +711,9 @@ dependencies = [
 [[package]]
 name = "synopsys-usb-otg"
 version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e948d523b316939545d8b21a48c27aef150ce25321b9f95ff7978647a806a6fe"
 dependencies = [
  "cortex-m",
+ "critical-section",
  "embedded-hal",
  "usb-device",
  "vcell",