diff --git a/config/search.yaml b/config/search.yaml
index c764dfd..f648ebf 100644
--- a/config/search.yaml
+++ b/config/search.yaml
@@ -4,7 +4,6 @@ marker:
   size: 0.5
   landing_ids: [0]
   target_ids: [1]
-  target_position: [5.0, 3.0]
 spiral:
   max_legs: 35
 lawnmower:
diff --git a/docs/architecture.md b/docs/architecture.md
index ee65b5d..50920af 100644
--- a/docs/architecture.md
+++ b/docs/architecture.md
@@ -141,22 +141,24 @@ src/
 ├── main.py                      # Entry point
 ├── vision/
 │   ├── object_detector.py       # ArUco marker detection
-│   ├── visual_odometry.py       # Feature tracking VO
-│   ├── optical_flow.py          # LK optical flow
 │   └── camera_processor.py      # Gazebo camera feeds
-├── localization/
-│   ├── position_estimator.py    # Weighted fusion
-│   └── ekf_fusion.py            # EKF fusion
 ├── navigation/
-│   ├── local_planner.py         # Path planning
-│   └── waypoint_follower.py     # Waypoint tracking
+│   ├── search.py                # Search algorithm controller
+│   ├── flight_tracker.py        # Live flight visualization
+│   └── patterns/
+│       ├── spiral.py            # Expanding square spiral
+│       ├── lawnmower.py         # Back-and-forth lanes
+│       └── levy.py              # Lévy walk random search
 ├── control/
-│   ├── uav_controller.py        # UAV flight control
-│   ├── ugv_controller.py        # UGV drive control
-│   └── search.py                # Search algorithms
-└── safety/
-    ├── geofence_monitor.py      # GPS boundaries
-    └── failsafe_handler.py      # Emergency handling
+│   ├── uav_controller.py        # UAV flight control (pymavlink)
+│   └── ugv_controller.py        # UGV drive control (gz.transport)
+├── safety/
+│   └── geofence.py              # GPS boundary enforcement
+└── utils/
+    ├── config.py                # YAML config loader
+    ├── convert.py               # Unit/coordinate conversions
+    ├── helpers.py               # Distance utilities
+    └── recorder.py              # Video recording & cloud upload
 ```
 
 ## Configuration
diff --git a/docs/troubleshooting.md b/docs/troubleshooting.md
index cfee2e3..2434f89 100644
--- a/docs/troubleshooting.md
+++ b/docs/troubleshooting.md
@@ -136,10 +136,6 @@ source activate_venv.sh
 pip install pexpect future
 ```
 
-source activate_venv.sh
-pip install pexpect future
-```
-
 ### Build Failed (Missing catkin_pkg)
 
 **Symptoms:**
diff --git a/scripts/run_autonomous.sh b/scripts/run_autonomous.sh
index 09e6561..f3e3945 100755
--- a/scripts/run_autonomous.sh
+++ b/scripts/run_autonomous.sh
@@ -98,7 +98,7 @@ print_info "==================================="
 print_info "  UAV-UGV Simulation"
 print_info "==================================="
 print_info "World:    $WORLD_FILE"
-print_info "Mission:  $MISSION"
+print_info "Search:   $SEARCH"
 echo ""
 GZ_DEFAULT_GUI="/usr/share/gz/gz-sim8/gui/gui.config"
 GZ_USER_GUI="$HOME/.gz/sim/8/gui.config"
@@ -147,12 +147,19 @@ if [ -f "$PARAM_FILE" ]; then
 fi
 sim_vehicle.py $SITL_ARGS &
 SITL_PID=$!
-print_info "Waiting for SITL (~20s) ..."
-sleep 20
-if ! pgrep -f "arducopter" > /dev/null 2>&1; then
-    print_error "ArduPilot SITL failed to start"
-    exit 1
-fi
+print_info "Waiting for SITL to start ..."
+SITL_TIMEOUT=60
+SITL_WAITED=0
+while ! pgrep -f "arducopter" > /dev/null 2>&1; do
+    sleep 2
+    SITL_WAITED=$((SITL_WAITED + 2))
+    if [ $SITL_WAITED -ge $SITL_TIMEOUT ]; then
+        print_error "ArduPilot SITL failed to start after ${SITL_TIMEOUT}s"
+        exit 1
+    fi
+    print_info "  Waiting for arducopter process ... (${SITL_WAITED}s)"
+done
+sleep 5
 print_success "ArduPilot SITL running (TCP 5760)"
 print_info "[3/4] Starting main.py ..."
 cd "$PROJECT_DIR"
diff --git a/src/navigation/search.py b/src/navigation/search.py
index c5475b5..3abb9e2 100644
--- a/src/navigation/search.py
+++ b/src/navigation/search.py
@@ -414,8 +414,6 @@ class Search:
         print()
         return False
 
-        return False
-
     def move_to_local(self, x, y):
         z = -self.altitude
         self.ctrl.move_local_ned(x, y, z)
diff --git a/src/utils/recorder.py b/src/utils/recorder.py
index f7b2fa4..5b790c9 100644
--- a/src/utils/recorder.py
+++ b/src/utils/recorder.py
@@ -337,7 +337,40 @@ class RunRecorder:
             threading.Thread(target=self._upload_file, args=(path, filename), daemon=True).start()
 
     def save_summary(self, search_mode="", altitude=0, markers=None, landed=False, ugv_dispatched=False, ugv_target=None, extra=None):
-        pass
+        duration = time.time() - self.start_time
+        summary = {
+            "search_mode": search_mode,
+            "altitude": round(altitude, 2),
+            "duration_seconds": round(duration, 1),
+            "search_duration_seconds": round(self.search_duration, 1),
+            "landed": landed,
+            "ugv_dispatched": ugv_dispatched,
+            "markers_found": 0,
+            "markers": {},
+            "timestamp": datetime.now().isoformat(),
+        }
+        if ugv_target:
+            summary["ugv_target"] = ugv_target
+        if markers:
+            summary["markers_found"] = len(markers)
+            for mid, info in markers.items():
+                pos = info.get("uav_position", {})
+                summary["markers"][int(mid)] = {
+                    "x": round(pos.get("x", 0), 2),
+                    "y": round(pos.get("y", 0), 2),
+                    "distance": round(info.get("distance", 0), 2),
+                }
+        if extra:
+            summary.update(extra)
+
+        path = self.run_dir / "summary.yaml"
+        try:
+            with open(path, "w") as f:
+                yaml.dump(summary, f, default_flow_style=False, sort_keys=False)
+            print(f"[REC] Summary saved: {path}")
+            threading.Thread(target=self._upload_file, args=(path, "summary.yaml"), daemon=True).start()
+        except Exception as e:
+            print(f"[REC] Failed to save summary: {e}")
 
     def stop(self):
         self._recording = False