AP_SwarmMesh: Resilient MAVLink Ad-HOC Swarm Networking for ArduPilot

This project aims to add a practical mesh networking framework to ArduPilot so multiple vehicles can continue sharing telemetry and coordination data even when direct links to the ground station are lost. The proposed solution is a new ArduPilot subsystem, AP_SwarmMesh, which builds standard MAVLink peer streams, wraps them in a lightweight peer routing header for multi-hop forwarding, and exchanges them over a dedicated peer link using both a "Full" and "Lite" backend. The main deliverables are the AP_SwarmMesh library, peer packet framing and forwarding logic, bounded onboard peer state tracking, SITL validation, and hardware demonstrations showing resilient multi-vehicle communication across both backend types.