Preflight Planner Update

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