Preflight Planner Update

config/properties.yaml

@@ -1,36 +0,0 @@
-simulation:
-  world: uav_ugv_search.sdf
-  software_render: auto
-
-physics:
-  max_step_size: 0.002
-  real_time_factor: 1.0
-
-sensor_noise:
-  enabled: true
-  position_stddev: 0.05
-  velocity_stddev: 0.1
-  gyro_stddev: 0.0002
-  accel_stddev: 0.017
-
-gps:
-  enabled: true
-  update_rate: 5
-  noise_stddev: 2.0
-  purpose: geofence_only
-
-initial_positions:
-  uav:
-    x: 0.0
-    y: 0.0
-    z: 0.195
-    yaw: 90.0
-  ugv:
-    x: 5.0
-    y: 5.0
-    z: 0.0
-    yaw: 0.0
-
-logging:
-  enabled: true
-  log_directory: logs

config/search.yaml

@@ -1,5 +1,16 @@
-altitude: 5.0
+# ─── Mission / Search Configuration ──────────────────────────
+# Single source of truth for all mission parameters.
 
+# ── Flight ───────────────────────────────────────────────────
+altitude: 4.0              # Search altitude (meters)
+
+# ── ArUco Marker ─────────────────────────────────────────────
+marker:
+  dictionary: DICT_4X4_50
+  size: 0.5                # Physical marker size in meters
+  landing_ids: [0]         # Marker IDs that trigger landing
+
+# ── Search Patterns ──────────────────────────────────────────
 spiral:
   max_legs: 12
   initial_leg: 4.0
@@ -15,18 +26,16 @@ levy:
   max_steps: 20
   field_size: 50.0
 
-actions:
-  land:
-    - 0
-
+# ── Geofence ─────────────────────────────────────────────────
 geofence:
   enabled: true
   warning_distance: 3.0
   min_altitude: 0.0
   max_altitude: 15.0
   # Polygon vertices in local NED (x=North, y=East) meters
+  # Centered on UAV start position (0, 0)
   points:
-    - [-5, -5]
-    - [-5, 25]
-    - [25, 25]
-    - [25, -5]
+    - [-15, -15]
+    - [-15, 15]
+    - [15, 15]
+    - [15, -15]

config/uav.yaml

@@ -1,74 +1,7 @@
+# ─── UAV Configuration ───────────────────────────────────────
+# UAV-specific settings. Mission config is in search.yaml.
+
 connection:
   sim: "tcp:127.0.0.1:5760"
   real: "/dev/ttyAMA0"
   baud: 57600
-
-flight:
-  takeoff_altitude: 5.0
-  max_altitude: 15.0
-  min_altitude: 3.0
-  max_velocity: 2.0
-  max_acceleration: 1.0
-  max_climb_rate: 1.0
-  max_yaw_rate: 45.0
-
-navigation:
-  frame: LOCAL_NED
-  waypoint_radius: 0.5
-  position_hold_radius: 0.2
-  home_mode: local
-
-vision:
-  forward_camera:
-    enabled: true
-    frame_rate: 30
-    resolution: [640, 480]
-  downward_camera:
-    enabled: true
-    frame_rate: 30
-    resolution: [320, 240]
-  visual_odometry:
-    enabled: true
-    method: ORB
-    min_features: 100
-    max_features: 500
-  optical_flow:
-    enabled: true
-    method: Lucas-Kanade
-    window_size: 15
-    min_altitude: 0.3
-    max_altitude: 10.0
-  landmark_detection:
-    enabled: true
-    method: ArUco
-    marker_size: 0.15
-
-position_estimation:
-  method: EKF
-  update_rate: 50
-  weights:
-    visual_odometry: 0.6
-    optical_flow: 0.3
-    imu: 0.1
-  process_noise:
-    position: 0.1
-    velocity: 0.5
-  measurement_noise:
-    visual_odom: 0.05
-    optical_flow: 0.1
-    imu: 0.2
-
-obstacle_avoidance:
-  enabled: true
-  detection_range: 5.0
-  safety_margin: 1.0
-
-safety:
-  geofence:
-    enabled: true
-    action_on_breach: RTL
-    max_altitude: 10
-    radius: 20
-  failsafe:
-    vision_loss_timeout: 5.0
-    action_on_vision_loss: HOLD

config/ugv.yaml

@@ -1,46 +1,8 @@
-vehicle:
-  wheelbase: 0.3
-  track_width: 0.25
-  wheel_radius: 0.05
-
-connection:
-  sim: null
-  real: null
+# ─── UGV Configuration ───────────────────────────────────────
+# UGV-specific settings. Mission config is in search.yaml.
 
+# UGV spawn position in local NED (meters)
+# Also used by run_autonomous.sh to place the UGV model in Gazebo
 position:
   x: 5.0
   y: 5.0
-  z: 0.0
-  yaw: 0.0
-
-navigation:
-  max_linear_velocity: 1.0
-  max_angular_velocity: 1.5
-  linear_acceleration: 0.5
-  angular_acceleration: 1.0
-  waypoint_radius: 0.3
-  position_tolerance: 0.3
-
-landing_pad:
-  marker_type: ArUco
-  marker_id: 0
-  marker_size: 0.3
-  pad_diameter: 1.0
-  color: [255, 255, 0]
-
-vision:
-  detection_method: ArUco
-  camera:
-    enabled: true
-    frame_rate: 30
-    resolution: [320, 240]
-
-safety:
-  geofence:
-    enabled: true
-    action_on_breach: STOP
-  failsafe:
-    vision_loss_timeout: 3.0
-    action_on_vision_loss: STOP
-    collision_distance: 0.2
-    action_on_collision: STOP