Code reorganization. Display recording fixes. Search Flight Planner Fixes. Bug Fixes

config/search.yaml

@@ -1,37 +1,23 @@
-# ─── Mission / Search Configuration ──────────────────────────
-# Single source of truth for all mission parameters.
-
-# ── Flight ───────────────────────────────────────────────────
-altitude: 5.0              # Search altitude (feet)
-
-# ── ArUco Marker ─────────────────────────────────────────────
+altitude: 5.0
 marker:
   dictionary: DICT_4X4_50
-  size: 0.5                # Physical marker size in meters
-  landing_ids: [0]         # Marker IDs that trigger landing (on UGV)
-  target_ids: [1]          # Marker IDs to find and report to UGV
-  target_position: [5.0, 3.0] # Initial X, Y location of the target Aruco map in the map
-
-# ── Search Patterns ──────────────────────────────────────────
+  size: 0.5
+  landing_ids: [0]
+  target_ids: [1]
+  target_position: [5.0, 3.0]
 spiral:
   max_legs: 35
-
 lawnmower:
   width: 30.0
   height: 30.0
-
 levy:
   max_steps: 40
   field_size: 50.0
-
-# ── Geofence ─────────────────────────────────────────────────
 geofence:
   enabled: true
   warning_distance: 3.0
   min_altitude: 0.0
   max_altitude: 15.0
-  # Polygon vertices in local NED (x=North, y=East) meters
-  # Centered on UAV start position (0, 0)
   points:
     - [-15, -15]
     - [-15, 15]

config/uav.yaml

@@ -1,11 +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
-
 speed:
   min_mph: 0.2
   max_mph: 1.0

config/ugv.yaml

@@ -1,17 +1,9 @@
-# ─── UGV Configuration ───────────────────────────────────────
-# UGV-specific settings. Mission config is in search.yaml.
-
-# UGV spawn position in local NED (meters)
-# The UAV starts on top of this — run_autonomous.sh syncs both
 position:
   x: 0.0
   y: 0.0
-
-# Gazebo transport topics
 topics:
   cmd_vel: /ugv/cmd_vel
   odometry: /ugv/odometry
-
 speed:
   min_mph: 0.5
   max_mph: 3.5