refactor experiment config

aerpaw/config/config.yaml

@@ -0,0 +1,36 @@
+# AERPAW UAV Guidance System Configuration
+# This file contains all settings for both simulation and testbed environments
+
+# ENU coordinate system origin (AERPAW Lake Wheeler Road Field)
+origin:
+  lat: 35.727436
+  lon: -78.696471
+  alt: 0.0  # Alt=0 means ENU z directly becomes target altitude above home
+
+# Target positions in ENU coordinates (meters)
+# Each target is assigned to a client in order: client 1 gets targets[0], etc.
+targets:
+  - [10.5, 20.3, 45.0]   # Client 1: east, north, up
+  - [25.0, 30.0, 30.0]   # Client 2: east, north, up
+
+# Environment-specific settings
+environments:
+  local:
+    # MAVLink connection for SITL simulation (UDP)
+    mavlink:
+      ip: "127.0.0.1"
+      port: 14550
+    # Controller server address
+    controller:
+      ip: "127.0.0.1"
+      port: 5000
+
+  testbed:
+    # AERPAW testbed: E-VM listens, MAVLink Filter connects TO us (UDP)
+    mavlink:
+      ip: "192.168.32.26"
+      port: 14550
+    # Controller runs on host machine (192.168.122.1 from E-VM perspective)
+    controller:
+      ip: "192.168.122.1"
+      port: 5000

aerpaw/config/connection.txt

@@ -1,7 +0,0 @@
-# Drone connection string for aerpawlib/dronekit
-# Examples:
-#   tcp:127.0.0.1:5760     - SITL TCP
-#   udp:127.0.0.1:14550    - SITL UDP (default MAVProxy output)
-#   /dev/ttyUSB0           - Serial connection
-#   /dev/ttyACM0           - Serial connection (Pixhawk USB)
-udp:127.0.0.1:14550

aerpaw/config/connection_testbed.txt

@@ -1,2 +0,0 @@
-# AERPAW testbed - connect to MAVLink filter on E-VM
-192.168.32.26:14550

aerpaw/config/origin.txt

@@ -1,4 +0,0 @@
-# Origin for ENU coordinate system (AERPAW Lake Wheeler Road Field)
-# Format: lat,lon,alt (degrees, degrees, meters)
-# Alt=0 means ENU z directly becomes the target altitude above home
-35.727436,-78.696471,0.0

aerpaw/config/server.txt

@@ -1,3 +0,0 @@
-# Local/fallback controller server address
-# Format: ip,port
-127.0.0.1,5000

aerpaw/config/server_testbed.txt

@@ -1,3 +0,0 @@
-# AERPAW testbed controller server address
-# Format: ip,port
-192.168.122.1,5000

aerpaw/config/targets.txt

@@ -1,2 +0,0 @@
-10.5,20.3,45.0
-25.0,30.0,30.0