Feature/autonav (Add Autonomous Navigation Module (Shapes, Safety, Obstacle Hold))

[Thanhhuynh9]

This PR introduces a new autonav module that extends the ESP-Drone firmware with basic autonomous navigation features.

Key features:
• Shape navigation: Adds predefined flight path commands (e.g., square, circle) for autonomous testing.
• 30s safety timer: If no commands are received within 30 seconds, the drone will automatically land and shut down as a fail-safe.
• Obstacle handling: When an obstacle is detected, the drone holds position until it is cleared.
• Modular design: Implemented in autonav.c and autonav.h for easier future extension.

Next steps:
• Integrate with the mobile app to send shape and override commands.
• Test functionality on prototype hardware once available.
• Expand with camera streaming integration in future work.

[Thanhhuynh9]

features added:
• Shape Path Navigation: Square, rectangle, oval, and triangle paths
• Safety Landing: Emergency landing logic with timeout watchdog
• Obstacle Avoidance: Downward and forward TOF sensors integrated
• CRTP Interface: Exposed AutoNav control through CRTP for app integration
• Manual Override: Ability to cancel/override current AutoNav mission
• Simulation Tools: tools/sim added for desktop testing (run_sim)
• iOS App Integration: Buttons prepared for shape selection & manual override
what I changes:
• Updated autonav.c and autonav.h with new states and logic
• Added autonav_crtp.c/h for CRTP packet handling
• Moved and cleaned up interface/ headers
• Added simulation headers and mock sensor ports
• Verified build with ESP-IDF 5.x
testing done:
• Desktop sim runs successfully (tools/sim/run_sim) showing state transitions
• Firmware builds and flashes without errors
• iOS app builds and pairs with device (buttons ready for CRTP commands)
next steps:
• Hardware validation on actual drone
• Finalize iOS CRTP command mapping for shape/override buttons