firmware: expand sensor telemetry

tests/test_xiao_sensor_node_contract.py

@@ -19,6 +19,8 @@ def test_transport_contract():
     assert "serializeJson(doc, Serial)" in text
     assert 'createNestedObject("nmea")' in text
     assert 'nmea["sentences_passed"]' in text
+    for field in ["linear_acceleration_mps2", "angular_velocity_rads", "gravity_mps2", "stability", "hdop", "location_age_ms"]:
+        assert field in text
 
 def test_loop_is_non_blocking():
     loop = source("xiao-esp32c6-sensor-node.ino").split("void loop()", 1)[1]
@@ -38,6 +40,8 @@ def test_imu_uses_verified_i2c_address():
     assert "BNO086_INIT_ATTEMPTS" in imu
     assert "BNO086_RUNTIME_RETRY_MS" in imu
     assert "bno086.wasReset()" in imu
+    for report in ["SH2_LINEAR_ACCELERATION", "SH2_GYROSCOPE_CALIBRATED", "SH2_GRAVITY", "SH2_STABILITY_CLASSIFIER"]:
+        assert report in imu
 
 def test_gps_uses_verified_uart_baud():
     config = source("sensor_node_config.h")