refactor: move firmware workspace under firmware

.github/workflows/sitl-smoke.yml

@@ -18,6 +18,7 @@ jobs:
         uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
 
       - name: Check host-SITL contracts
+        working-directory: firmware
         run: |
           python3 -m unittest tools/sitl/test_kaptan_sim.py
           python3 tools/sitl/world-structure-test.py
@@ -37,4 +38,4 @@ jobs:
           cargo test --locked -p kaptan-sitl
 
       - name: Run Docker closed-loop smoke
-        run: tools/sitl/e2e-smoke.sh
+        run: firmware/tools/sitl/e2e-smoke.sh