[codex] Merge payload-angled-approach into main

[ethayu]

Summary

Merge payload-angled-approach into main after reconciling it with the current main runtime and layout changes.

What changed

• merged current main into the branch and resolved the resulting conflicts
• kept the branch payload hardware additions while preserving the newer payload/UAV runtime layout from main
• folded the branch AprilTag mission tuning into the current payload mission path

Validation

• git diff --check --cached
• python3 -m py_compile controls/sae_2025_ws/src/payload/launch/payload.launch.py controls/sae_2025_ws/src/uav/launch/main.launch.py
• PYTHONPATH=/tmp/monorepo-mergecheck/controls/sae_2025_ws/src/uav python3 -m pytest -q controls/sae_2025_ws/src/uav/test/test_mission_spec.py