Preflight Planner Update

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