refactor(firmware): simplify configuration and diagnostics

firmware/libs/kaptan-navigation/Cargo.toml

@@ -14,7 +14,7 @@ default = []
 # executable. It is not part of a board build.
 sitl = ["dep:kaptan-sensor"]
 [dependencies]
-kaptan-log = { path = "../kaptan-log" }
+kaptan-err-propagate = { path = "../kaptan-err-propagate" }
 kaptan-math = { path = "../kaptan-math" }
 kaptan-sensor = { path = "../kaptan-sensor", optional = true }
 kaptan-time = { path = "../kaptan-time" }

firmware/libs/kaptan-navigation/src/eskf.rs

@@ -1,6 +1,6 @@
 //! Fixed-size multiplicative error-state Kalman filter.
 
-use kaptan_log::KaptanError;
+use kaptan_err_propagate::KaptanError;
 use kaptan_math::{Frd, MathError, Ned, Sensor, UnitQuaternion, Vector3, sqrt};
 use kaptan_time::Timestamp;
 
@@ -209,22 +209,31 @@ pub struct EstimatorHealth {
 #[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum PropagationError {
     /// An IMU observation was invalid or was not calibrated into FRD.
+    #[kaptan_error(id = 8001)]
     InvalidImu,
     /// IMU source differs from the stream bound during stationary initialization.
+    #[kaptan_error(id = 8002)]
     ImuSourceMismatch,
     /// IMU calibration differs from the stream bound during stationary initialization.
+    #[kaptan_error(id = 8003)]
     ImuCalibrationMismatch,
     /// IMU sequence repeated or moved backwards within the bound stream.
+    #[kaptan_error(id = 8004)]
     ReplayedImu,
     /// IMU measurement time did not advance strictly.
+    #[kaptan_error(id = 8005)]
     NonMonotonicTimestamp,
     /// The interval exceeded the bounded propagation contract.
+    #[kaptan_error(id = 8006)]
     ImuGapTooLarge,
     /// The IMU rate and interval exceed the bounded quaternion increment.
+    #[kaptan_error(id = 8007)]
     RotationIncrementTooLarge,
     /// Input or resulting state was non-finite.
+    #[kaptan_error(id = 8008)]
     NonFinite,
     /// The candidate state or covariance failed validation; reinitialize before reuse.
+    #[kaptan_error(id = 8009)]
     FilterInvalid,
 }
 
@@ -232,33 +241,47 @@ pub enum PropagationError {
 #[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum FusionError {
     /// Observation is not at this filter's current history time.
+    #[kaptan_error(id = 8101)]
     TimestampMismatch,
     /// Observation was device-invalid.
+    #[kaptan_error(id = 8102)]
     InvalidObservation,
     /// Observation source does not identify the configured physical device.
+    #[kaptan_error(id = 8103)]
     SourceMismatch,
     /// Observation frame does not match the configured extrinsics.
+    #[kaptan_error(id = 8104)]
     FrameMismatch,
     /// Observation calibration revision does not match the configured transform.
+    #[kaptan_error(id = 8105)]
     CalibrationMismatch,
     /// The fixed source-integrity table has no entry for this source.
+    #[kaptan_error(id = 8106)]
     SourceCapacityExhausted,
     /// A source repeated or moved backwards from its accepted sequence stream.
+    #[kaptan_error(id = 8107)]
     ReplayedObservation,
     /// This estimator profile has no terrain state.
+    #[kaptan_error(id = 8108)]
     TerrainProfileRequired,
     /// Optical flow from an offset sensor needs a correlated IMU-noise update
     /// that this profile does not implement.
+    #[kaptan_error(id = 8109)]
     UnsupportedOpticalFlowLeverArm,
     /// Measurement fails physical range or velocity plausibility bounds.
+    #[kaptan_error(id = 8110)]
     Implausible,
     /// Range ray is too tilted or does not intersect terrain below the sensor.
+    #[kaptan_error(id = 8111)]
     InvalidRangeGeometry,
     /// Innovation covariance was singular/non-finite.
+    #[kaptan_error(id = 8112)]
     SingularInnovation,
     /// Innovation exceeds the configured chi-square gate.
+    #[kaptan_error(id = 8113)]
     InnovationRejected,
     /// The candidate state or covariance failed validation; reinitialize before reuse.
+    #[kaptan_error(id = 8114)]
     FilterInvalid,
 }