refactor: move firmware workspace under firmware

firmware/tools/sitl/e2e-smoke.sh

@@ -0,0 +1,39 @@
+#!/usr/bin/env sh
+# Host-only closed-loop acceptance scenario. It verifies the actual UDP lease,
+# estimator, safety, trajectory, controller, allocator, and Gazebo loop across
+# ascent, cross-axis translation, descent, and terminal landing. Every terminal
+# phase holds independent, noise-free Gazebo truth; that recorder cannot feed
+# the controller.
+set -eu
+
+project_root=$(CDPATH= cd -- "$(dirname -- "$0")/../.." && pwd)
+compose_file="$project_root/tools/sitl/compose.yaml"
+
+python3 "$project_root/tools/sitl/world-structure-test.py"
+
+cleanup() {
+    status=$?
+    trap - EXIT
+    # Preserve the first failing command's result, but retain enough evidence
+    # to distinguish a client/lease failure from a Gazebo or container start
+    # failure in CI. `down` otherwise removes the only useful diagnostics.
+    if [ "$status" -ne 0 ]; then
+        echo "SITL smoke failed (exit $status); compose state and recent logs follow:" >&2
+        docker compose -f "$compose_file" ps >&2 || true
+        docker compose -f "$compose_file" logs --no-color --tail 250 >&2 || true
+    fi
+    docker compose -f "$compose_file" down --remove-orphans || true
+    exit "$status"
+}
+trap cleanup EXIT
+trap 'exit 130' INT
+trap 'exit 143' TERM
+
+docker compose -f "$compose_file" up -d --build
+"$project_root/tools/sitl/kaptan-sim" ready --timeout 30
+"$project_root/tools/sitl/kaptan-sim" move 0 0 1.5 --wait --verify-truth --timeout 60
+"$project_root/tools/sitl/kaptan-sim" move 5 3 5 --wait --verify-truth --timeout 90
+"$project_root/tools/sitl/kaptan-sim" move -4 -2 2 --wait --verify-truth --timeout 90
+# Start the terminal operation while airborne and off the landing point. A
+# `move ... 1` is an armed hover, not evidence of landing or zero motors.
+"$project_root/tools/sitl/kaptan-sim" land 0 0 --wait --verify-truth --timeout 60