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Code reorganization and Drone Logic Update

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2026-01-05 02:38:46 +00:00
parent c5b208c91a
commit 27a70c4983
32 changed files with 1018 additions and 812 deletions
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20
scripts/run_ardupilot_sim.sh
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@@ -113,7 +113,6 @@ fi
# =============================================================================
WORLD_ARG="${1:-runway}"
# Map friendly names to actual world files
case "$WORLD_ARG" in
runway|iris|default)
WORLD="${HOME}/ardupilot_gazebo/worlds/iris_runway.sdf"
@@ -130,10 +129,16 @@ case "$WORLD_ARG" in
parachute)
WORLD="${HOME}/ardupilot_gazebo/worlds/zephyr_parachute.sdf"
;;
custom)
WORLD="${PROJECT_DIR}/gazebo/worlds/custom_landing.sdf"
;;
*)
# Try as full path or filename
if [ -f "$WORLD_ARG" ]; then
WORLD="$WORLD_ARG"
elif [ -f "${PROJECT_DIR}/gazebo/worlds/${WORLD_ARG}" ]; then
WORLD="${PROJECT_DIR}/gazebo/worlds/${WORLD_ARG}"
elif [ -f "${PROJECT_DIR}/gazebo/worlds/${WORLD_ARG}.sdf" ]; then
WORLD="${PROJECT_DIR}/gazebo/worlds/${WORLD_ARG}.sdf"
elif [ -f "${HOME}/ardupilot_gazebo/worlds/${WORLD_ARG}" ]; then
WORLD="${HOME}/ardupilot_gazebo/worlds/${WORLD_ARG}"
elif [ -f "${HOME}/ardupilot_gazebo/worlds/${WORLD_ARG}.sdf" ]; then
@@ -147,12 +152,13 @@ esac
if [ -z "$WORLD" ] || [ ! -f "$WORLD" ]; then
echo "[ERROR] World not found: $WORLD_ARG"
echo ""
echo "Available options:"
echo " runway - Iris drone on runway (default)"
echo "Built-in worlds:"
echo " runway - Iris on runway (default)"
echo " warehouse - Iris in warehouse"
echo " gimbal - Gimbal test"
echo " zephyr - Zephyr plane"
echo " parachute - Parachute test"
echo " custom - Custom landing pad"
echo ""
echo "Local worlds in gazebo/worlds/:"
ls -1 "${PROJECT_DIR}/gazebo/worlds/"*.sdf 2>/dev/null | xargs -n1 basename || echo " (none)"
echo ""
echo "Or specify full path to .sdf file"
exit 1