refactor(firmware): simplify configuration and diagnostics

firmware/libs/kaptan-control/Cargo.toml

@@ -9,5 +9,5 @@ version.workspace = true
 workspace = true
 
 [dependencies]
-kaptan-log = { path = "../kaptan-log" }
+kaptan-err-propagate = { path = "../kaptan-err-propagate" }
 kaptan-math = { path = "../kaptan-math" }

firmware/libs/kaptan-control/src/lib.rs

@@ -7,7 +7,7 @@
 
 #![no_std]
 
-use kaptan_log::KaptanError;
+use kaptan_err_propagate::KaptanError;
 use kaptan_math::{Frd, Ned, UnitQuaternion, Vector3, sqrt};
 
 /// Body-frame angular rate in radians per second.
@@ -57,8 +57,10 @@ impl HeadingNed {
 #[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum AttitudeError {
     /// A zero or non-finite force has no defined thrust direction.
+    #[kaptan_error(id = 7001)]
     ZeroForce,
     /// Requested heading is parallel to the thrust axis.
+    #[kaptan_error(id = 7002)]
     SingularHeading,
 }
 
@@ -105,10 +107,13 @@ pub struct PidConfig {
 #[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum PidError {
     /// Static PID gains or limits were non-finite or contradictory.
+    #[kaptan_error(id = 7101)]
     InvalidConfiguration,
     /// Time step was non-finite, non-positive, or exceeded the 100-ms integration bound.
+    #[kaptan_error(id = 7102)]
     InvalidTime,
     /// Error input was non-finite.
+    #[kaptan_error(id = 7103)]
     NonFinite,
 }
 
@@ -320,12 +325,16 @@ pub struct KinematicLimits {
 #[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum TrajectoryError {
     /// A static speed/acceleration constraint is invalid.
+    #[kaptan_error(id = 7201)]
     InvalidLimits,
     /// A goal coordinate is non-finite.
+    #[kaptan_error(id = 7202)]
     NonFiniteGoal,
     /// The service interval was non-finite, non-positive, or exceeded the 100-ms integration bound.
+    #[kaptan_error(id = 7203)]
     InvalidTime,
     /// A finite input produced a non-finite intermediate or candidate state.
+    #[kaptan_error(id = 7204)]
     NumericalOverflow,
 }
 
@@ -590,8 +599,10 @@ pub struct TranslationalControlConfig {
 #[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum TranslationalControlError {
     /// A gain or kinematic limit is invalid.
+    #[kaptan_error(id = 7301)]
     InvalidConfiguration,
     /// A reference or estimator value is non-finite.
+    #[kaptan_error(id = 7302)]
     NonFiniteState,
 }
 
@@ -685,9 +696,11 @@ pub struct ThrustEnvelope {
 #[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum ThrustEnvelopeError {
     /// A static physical parameter is invalid.
+    #[kaptan_error(id = 7401)]
     InvalidConfiguration,
     /// A requested acceleration is non-finite or cannot be produced by
     /// positive multicopter thrust.
+    #[kaptan_error(id = 7402)]
     InvalidAcceleration,
 }
 
@@ -825,14 +838,19 @@ pub struct BodyWrench {
 #[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum AllocatorError {
     /// One static allocation output has non-finite or contradictory limits.
+    #[kaptan_error(id = 7501)]
     InvalidActuator,
     /// Mixer contains non-finite values.
+    #[kaptan_error(id = 7502)]
     InvalidMixer,
     /// Time step was non-finite, non-positive, or exceeded the 100-ms integration bound.
+    #[kaptan_error(id = 7503)]
     InvalidTime,
     /// Requested wrench contains a non-finite component.
+    #[kaptan_error(id = 7504)]
     InvalidWrench,
     /// The requested actuator index is outside the static allocation map.
+    #[kaptan_error(id = 7505)]
     UnknownActuator,
 }