- swarm_formation.yaml: default 16-drone 4x4 grid formation config
- swarm_formation_designer.py: CLI to generate/preview formation YAML
files with grid, circle, line, v, diamond, and random patterns
- sih_swarm_run.sh: launcher for N SIH instances with XRCE-DDS agent,
reads formation YAML for per-drone positions
- collect_swarm_ulogs.py: collects ULog files from all instances into
a single output directory with drone ID prefixes
- generate_swarm_ulogs.py: synthetic ULog generator for viewer testing
with staggered starts, formation phases, and edge cases
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
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