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/libs/kaptan-flight-config/tests/support/mod.rs

@@ -0,0 +1,96 @@
+use kaptan_flight_config::profile::*;
+use kaptan_math::Vector3;
+use kaptan_navigation::{
+    BarometricReference, CalibrationRevision, ContactGeometry, FrameId, NavigationInstallation,
+    NavigationSources, RangeInstallation, SensorReferenceId, SourceId,
+};
+
+pub const fn candidate() -> CandidateProfile {
+    CandidateProfile {
+        safety: SafetySettings {
+            prearm_dwell_microseconds: 500_000,
+        },
+        timing: TimingSettings {
+            maximum_imu_interval_microseconds: 20_000,
+            imu_freshness_microseconds: 20_000,
+            local_state_freshness_microseconds: 250_000,
+            offboard_timeout_microseconds: 300_000,
+        },
+        control: ControlSettings {
+            position_gain_per_second_squared: 0.8,
+            velocity_gain_per_second: 1.2,
+            maximum_horizontal_acceleration_mps2: 3.0,
+            maximum_upward_acceleration_mps2: 2.0,
+            maximum_downward_acceleration_mps2: 2.0,
+            attitude_roll_pitch_gain_per_second: 4.0,
+            attitude_yaw_gain_per_second: 2.0,
+        },
+        thrust: ThrustSettings {
+            mass_kg: 1.2,
+            maximum_collective_thrust_newtons: 18.0,
+            maximum_tilt_tangent: 0.700_207_53,
+        },
+        rate_pid: PidSettings {
+            proportional: 0.080,
+            integral: 0.006,
+            derivative: 0.0,
+            output_limit: 0.10,
+            integral_limit: 0.025,
+            yaw_proportional: 0.990,
+            yaw_integral: 0.074,
+        },
+        actuator_limits: ActuatorLimits {
+            minimum: 0.0,
+            maximum: 1.0,
+            slew_per_second: 8.0,
+        },
+        flight: FlightSettings {
+            command_ttl_us: 250_000,
+            fallback_hold_us: 1_000_000,
+            output_lifetime_us: 50_000,
+            control_period_us: 10_000,
+            control_deadline_us: 20_000,
+            time_error_bound_us: 2_000,
+            gyro_psd: 2.5e-7,
+            acceleration_psd: 2.5e-5,
+            gyro_bias_psd: 1e-10,
+            acceleration_bias_psd: 1e-8,
+            barometric_datum_psd: 1e-5,
+        },
+    }
+}
+
+pub const fn installation() -> NavigationInstallation {
+    NavigationInstallation {
+        sources: NavigationSources {
+            imu: SourceId::new(1),
+            local_position_velocity: SourceId::new(2),
+            magnetic: SourceId::new(3),
+            pressure: SourceId::new(4),
+            range: SourceId::new(5),
+        },
+        range: RangeInstallation {
+            frame: FrameId::new(3),
+            offset_frd_metres: Vector3::new(0.0, 0.0, 0.04),
+            direction_frd: Vector3::new(0.0, 0.0, 1.0),
+            quantization_error_metres: 0.0005,
+        },
+        contact: ContactGeometry {
+            half_span_x_metres: 0.12,
+            half_span_y_metres: 0.12,
+            centre_z_metres: 0.065,
+            radius_metres: 0.015,
+        },
+        atmosphere: BarometricReference {
+            pressure_pascals: 101_325.0,
+            temperature_kelvin: 288.15,
+        },
+        magnetic_field_ned_microtesla: Vector3::new(20.0, 0.0, 45.0),
+        calibration: CalibrationRevision::new(1),
+        reference: SensorReferenceId(1),
+    }
+}
+
+pub const fn capabilities() -> VehicleCapabilities {
+    VehicleCapabilities::quad_x(installation())
+}