Aruco Code and UVG/UAV Logic Fixes

config/ardupilot_gps_denied.parm

@@ -68,7 +68,7 @@ FS_GCS_ENABLE 0
 # ====================
 # Logging
 # ====================
-LOG_BITMASK 176126
+LOG_BITMASK 0
 LOG_DISARMED 0
 
 # ====================
@@ -76,3 +76,16 @@ LOG_DISARMED 0
 # ====================
 LAND_SPEED 150        # Final descent cm/s (default 50)
 LAND_SPEED_HIGH 250   # Initial descent cm/s (default 0=WPNAV_SPEED_DN)
+
+# ====================
+# SITL Fast Startup
+# ====================
+# These MUST be in the .parm file (loaded at boot), not set via MAVLink
+GPS_HDOP_GOOD 250     # Accept worse GPS quality (default 140)
+EK3_CHECK_SCALE 200   # Relax EKF health checks (default 100)
+EK3_GPS_CHECK 0       # Disable GPS preflight checks entirely in SITL
+EK3_POSNE_M_NSE 0.5   # Trust GPS position more (default 0.5)
+EK3_VELD_M_NSE 0.2    # Trust GPS vertical vel more (default 0.4)
+EK3_VELNE_M_NSE 0.1   # Trust GPS horizontal vel more (default 0.3)
+INS_GYRO_CAL 0        # Skip gyro calibration on boot (SITL only)
+AHRS_GPS_MINSATS 6    # Minimum satellites

config/search.yaml

@@ -8,7 +8,8 @@ altitude: 4.0              # Search altitude (meters)
 marker:
   dictionary: DICT_4X4_50
   size: 0.5                # Physical marker size in meters
-  landing_ids: [0]         # Marker IDs that trigger landing
+  landing_ids: [0]         # Marker IDs that trigger landing (on UGV)
+  target_ids: [1]          # Marker IDs to find and report to UGV
 
 # ── Search Patterns ──────────────────────────────────────────
 spiral:

config/ugv.yaml

@@ -2,7 +2,12 @@
 # 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
+# The UAV starts on top of this — run_autonomous.sh syncs both
 position:
-  x: 5.0
-  y: 5.0
+  x: 0.0
+  y: 0.0
+
+# Gazebo transport topics
+topics:
+  cmd_vel: /ugv/cmd_vel
+  odometry: /ugv/odometry