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-mavlink/definitions/publish/error.xml

@@ -4,7 +4,7 @@
   <dialect>0</dialect>
   <messages>
     <message id="51021" name="ERROR">
-      <description>Reportable firmware error emitted when an Err leaves an annotated reporting point. This is distinct from every logging macro, which emits LOG. The stable ID is explicitly assigned to the Rust error variant. Protocol failures remain authoritative in their owning response.</description>
+      <description>Reportable firmware error emitted when an Err leaves an annotated function. Logging macros emit LOG instead. Protocol failures are reported in their operation responses.</description>
       <field type="uint16_t" name="error_id">Stable explicitly assigned error catalog ID. Zero is reserved.</field>
       <field type="uint8_t[96]" name="raised_at">Zero-padded compile-time file:line of the reporting point.</field>
     </message>

firmware/libs/kaptan-mavlink/definitions/publish/heartbeat.xml

@@ -11,7 +11,7 @@
   </enums>
   <messages>
     <message id="51027" name="HEARTBEAT">
-      <description>Periodic liveness and discovery publication for the initialized output-inhibited firmware composition.</description>
+      <description>Liveness and discovery while initialized with outputs inhibited.</description>
       <field type="uint8_t" name="state" enum="HEARTBEAT_STATE"/>
     </message>
   </messages>

firmware/libs/kaptan-mavlink/definitions/publish/imu.xml

@@ -4,10 +4,10 @@
   <dialect>0</dialect>
   <messages>
     <message id="51028" name="IMU">
-      <description>One accepted body-frame inertial observation in the native bounded sensor representation.</description>
+      <description>Body-frame inertial observation. Payload offsets are time_us 0, angular_rate 8, acceleration 20 and temperature 26. Payload length is 28 bytes, extra CRC 22.</description>
       <field type="uint64_t" name="time_us">Flight-controller monotonic acquisition time in microseconds.</field>
       <field type="int16_t[3]" name="acceleration_milligravity">Body-frame acceleration in milligravity.</field>
-      <field type="int16_t[3]" name="angular_rate_milliradians_per_second">Body-frame angular rate in milliradians per second.</field>
+      <field type="int32_t[3]" name="angular_rate_milliradians_per_second">Body-frame angular rate in milliradians per second. Preserves the full MPU6000 plus or minus 2000 degrees per second decoded range.</field>
       <field type="int16_t" name="temperature_centidegrees_celsius">Sensor temperature in centidegrees Celsius.</field>
     </message>
   </messages>

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

@@ -21,7 +21,7 @@
   </enums>
   <messages>
     <message id="51020" name="LOG">
-      <description>Bounded human-readable runtime log emitted by every Kaptan logging macro, including error. The receiver needs only level, flags, and the valid UTF-8 text prefix. MAVLink framing, bounded admission, DMA, and retries remain platform-owned.</description>
+      <description>Runtime log emitted by Kaptan logging macros, including error.</description>
       <field type="uint8_t" name="level" enum="LOG_LEVEL">Kaptan wire level.</field>
       <field type="uint8_t" name="flags" enum="LOG_FLAGS">TRUNCATED=1. Receivers ignore unrecognized bits.</field>
       <field type="uint8_t" name="message_length">Number of valid UTF-8 bytes in message; at most 160.</field>

firmware/libs/kaptan-mavlink/definitions/publish/range.xml

@@ -5,7 +5,7 @@
   <messages>
     <message id="51029" name="RANGE">
       <description>One accepted downward range observation from the board's selected vertical sensor route.</description>
-      <field type="uint64_t" name="time_us">Flight-controller monotonic measurement-request time in microseconds.</field>
+      <field type="uint64_t" name="time_us">Producer timestamp in flight-controller monotonic microseconds: measurement request for LIDAR-Lite, frame reception for MTF-01.</field>
       <field type="uint32_t" name="distance_millimetres">Measured downward distance in millimetres.</field>
     </message>
   </messages>