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Code reorganization and Drone Logic Update

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# Custom Gazebo Worlds
Create custom environments for the ARG simulation.
## Quick Start
1. Copy template world:
```bash
cp gazebo/worlds/custom_landing.sdf gazebo/worlds/my_world.sdf
```
2. Edit the world file
3. Run:
```bash
./scripts/run_ardupilot_sim.sh gazebo/worlds/my_world.sdf
```
## World Structure
```xml
<?xml version="1.0" ?>
<sdf version="1.9">
<world name="my_world">
<!-- Required plugins -->
<plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics"/>
<plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors"/>
<plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands"/>
<plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster"/>
<plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"/>
<!-- Physics -->
<physics name="1ms" type="ode">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<!-- Lighting -->
<light type="directional" name="sun">
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
</light>
<!-- Ground -->
<model name="ground">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry><plane><normal>0 0 1</normal></plane></geometry>
</collision>
<visual name="visual">
<geometry><plane><normal>0 0 1</normal><size>100 100</size></plane></geometry>
</visual>
</link>
</model>
<!-- Your models here -->
<!-- ArduPilot drone (required) -->
<include>
<uri>model://iris_with_ardupilot</uri>
<name>iris</name>
<pose>0 0 0.195 0 0 0</pose>
</include>
</world>
</sdf>
```
## Adding Objects
### Basic Shapes
```xml
<model name="box">
<static>true</static>
<pose>5 0 0.5 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry><box><size>1 1 1</size></box></geometry>
</collision>
<visual name="visual">
<geometry><box><size>1 1 1</size></box></geometry>
<material>
<ambient>0.8 0.2 0.2 1</ambient>
</material>
</visual>
</link>
</model>
```
### Cylinder
```xml
<model name="cylinder">
<static>true</static>
<pose>0 5 1 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry><cylinder><radius>0.5</radius><length>2</length></cylinder></geometry>
</collision>
<visual name="visual">
<geometry><cylinder><radius>0.5</radius><length>2</length></cylinder></geometry>
</visual>
</link>
</model>
```
### Include Model
```xml
<include>
<uri>model://my_custom_model</uri>
<name>obstacle_1</name>
<pose>3 4 0 0 0 0.5</pose>
</include>
```
## Landing Pad with Rover
```xml
<model name="landing_pad">
<static>false</static>
<pose>0 0 0.05 0 0 0</pose>
<link name="base">
<inertial><mass>10</mass></inertial>
<collision name="collision">
<geometry><cylinder><radius>0.75</radius><length>0.1</length></cylinder></geometry>
</collision>
<visual name="visual">
<geometry><cylinder><radius>0.75</radius><length>0.1</length></cylinder></geometry>
<material><diffuse>0.2 0.8 0.2 1</diffuse></material>
</visual>
</link>
<plugin filename="gz-sim-velocity-control-system" name="gz::sim::systems::VelocityControl">
<topic>/landing_pad/cmd_vel</topic>
</plugin>
</model>
```
## Camera Sensor
Add to drone or create camera model:
```xml
<sensor name="camera" type="camera">
<pose>0 0 -0.1 0 1.5708 0</pose>
<always_on>true</always_on>
<update_rate>30</update_rate>
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
</image>
</camera>
<topic>/drone/camera</topic>
</sensor>
```
## Tips
- Use `<static>true</static>` for non-moving objects
- Pose format: `x y z roll pitch yaw`
- Angles are in radians
- Colors are RGBA (0-1 range)