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/vendor/synopsys-usb-otg/README.md

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+[![crates.io](https://img.shields.io/crates/d/synopsys-usb-otg.svg)](https://crates.io/crates/synopsys-usb-otg)
+[![crates.io](https://img.shields.io/crates/v/synopsys-usb-otg.svg)](https://crates.io/crates/synopsys-usb-otg)
+[![Build Status](https://travis-ci.com/stm32-rs/synopsys-usb-otg.svg?branch=master)](https://travis-ci.com/stm32-rs/synopsys-usb-otg)
+
+# `synopsys-usb-otg`
+
+> [usb-device](https://github.com/mvirkkunen/usb-device) implementation for Synopsys USB OTG IP cores.
+
+This project is a successor to the [great work](https://github.com/mvirkkunen/stm32f103xx-usb)
+started by [@mvirkkunen](https://github.com/mvirkkunen).
+
+## Supported microcontrollers
+
+* `STM32F429xx` (OTG_FS and OTG_HS in FS mode)
+* `STM32F401xx`
+* `STM32F446xx` (OTG_FS and OTG_HS in FS mode)
+* `STM32F723xx` (OTG_FS and OTG_HS with internal HS PHY)
+* `STM32H7xxxx` (OTG1_HS and OTG2_HS in FS mode, and OTG1_HS with external HS PHY)
+* And others...
+
+
+## Usage
+
+This driver is intended for use through a device hal library.
+Such hal library should implement `UsbPeripheral` for the corresponding USB peripheral object.
+This trait declares all the peripheral properties that may vary from one device family to the other.
+Additionally, hal should pass `fs` of `hs` feature to the `synopsys-usb-otg` library to
+define a peripheral type:
+* `fs` - for FullSpeed peripherals
+* `hs` - for HighSpeed peripherals
+
+Only one peripheral type can be selected at the moment.
+
+### ULPI Transciever Delay
+
+Some ULPI PHYs like the Microchip USB334x series require a delay between the ULPI register write that initiates
+the HS Chirp and the subsequent transmit command, otherwise the HS Chirp does not get executed and the deivce
+enumerates in FS mode. Some USB Link IP like those in the STM32H7 series support adding this delay to work with the
+affected PHYs. Enable the `xcvrdly` feature to add this delay.
+
+## Examples
+
+See the [usb-otg-workspace](https://github.com/Disasm/usb-otg-workspace) repo for different device-specific examples.