Safety checking for suspect estimates and controller errors

[BananaBuff]

Code to attempt to detect and handle suspect controllers and estimators to reduce the duration and consequence of freakouts.

[github-actions]

Doxygen warnings output: (if empty, there are no warnings). Please correct any warnings before merging.

[Copilot]

Pull request overview

This PR adds shared safety validation for controller tracking errors and estimator outputs so the firmware can detect suspect state/control behavior and force the robot into safety mode sooner.

Changes:

• Added shared safety-mode state and threaded it through the main loop.
• Added controller-side validation hooks, per-state error monitors, and shared controller error escalation logic.
• Added estimator-side validation hooks, raw/unbounded state setters for estimates, and new state-config fields for error thresholds/timing.

Reviewed changes

Copilot reviewed 10 out of 10 changed files in this pull request and generated 10 comments.

Show a summary per file

File	Description
src/utils/safety.hpp	Adds global safety-mode flag helpers used by validation code.
src/main.cpp	Publishes safety-mode state from the main control loop.
src/controls/state.hpp	Documents bounded vs raw setters and exposes no-bound setters publicly.
src/controls/estimator.hpp	Adds estimator validation hooks and per-state monitor members.
src/controls/estimator.cpp	Implements shared estimator limit checks and switches estimators to raw setters.
src/controls/estimator_manager.cpp	Runs estimator validation after each estimator step.
src/controls/controller.hpp	Adds controller validation hooks and per-state error monitoring utilities.
src/controls/controller.cpp	Implements shared controller error checks and per-controller validation.
src/controls/controller_manager.cpp	Runs controller validation before each controller step.
src/comms/config_data/state.hpp	Extends state config with controller-error threshold/timing fields.

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[Rishi-H]

Tested on robot, code looks clean.