Search, Flight Tracker, and Config Updates

config/search.yaml

@@ -2,7 +2,7 @@
 # Single source of truth for all mission parameters.
 
 # ── Flight ───────────────────────────────────────────────────
-altitude: 4.0              # Search altitude (meters)
+altitude: 4.0              # Search altitude (feet)
 
 # ── ArUco Marker ─────────────────────────────────────────────
 marker:
@@ -13,18 +13,14 @@ marker:
 
 # ── Search Patterns ──────────────────────────────────────────
 spiral:
-  max_legs: 12
-  initial_leg: 4.0
-  leg_increment: 3.2
+  max_legs: 60
 
 lawnmower:
   width: 30.0
   height: 30.0
-  lane_spacing: 3.2
-  lanes: 2
 
 levy:
-  max_steps: 20
+  max_steps: 40
   field_size: 50.0
 
 # ── Geofence ─────────────────────────────────────────────────

config/uav.yaml

@@ -5,3 +5,7 @@ connection:
   sim: "tcp:127.0.0.1:5760"
   real: "/dev/ttyAMA0"
   baud: 57600
+
+speed:
+  min_mph: 0.2
+  max_mph: 1.0

config/ugv.yaml

@@ -11,3 +11,7 @@ position:
 topics:
   cmd_vel: /ugv/cmd_vel
   odometry: /ugv/odometry
+
+speed:
+  min_mph: 0.5
+  max_mph: 3.5