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