Code reorganization and Drone Logic Update

README.md

@@ -1,30 +1,8 @@
-# Drone Landing Simulation (GPS-Denied)
+# GPS-Denied Drone Landing Simulation
 
-Land a drone on a moving platform using only relative sensors.
+ArduPilot + ROS 2 + Gazebo (ARG) simulation for landing on a moving platform.
 
-## Quick Start
-
-### Standalone (1 Terminal)
-
-```bash
-source activate.sh
-python standalone_simulation.py --pattern circular
-```
-
-### Gazebo + ROS 2 (2 Terminals)
-
-**Terminal 1:**
-```bash
-ros2 launch gazebo/launch/drone_landing.launch.py
-```
-
-**Terminal 2:**
-```bash
-source activate.sh
-python run_gazebo.py --pattern circular
-```
-
-### ArduPilot GPS-Denied (2 Terminals)
+## Quick Start (2 Terminals)
 
 **Terminal 1 - Gazebo:**
 ```bash
@@ -36,38 +14,53 @@ python run_gazebo.py --pattern circular
 ./scripts/run_ardupilot_controller.sh
 ```
 
+## World Options
+
+```bash
+./scripts/run_ardupilot_sim.sh runway     # Default
+./scripts/run_ardupilot_sim.sh warehouse  # Indoor
+./scripts/run_ardupilot_sim.sh custom     # Custom landing pad
+./scripts/run_ardupilot_sim.sh my_world   # gazebo/worlds/my_world.sdf
+```
+
 ## Installation
 
 ```bash
 ./setup/install_ubuntu.sh
-./setup/install_ardupilot.sh  # Optional for ArduPilot
-source activate.sh
+./setup/install_ardupilot.sh
+source ~/.bashrc
 ```
 
-## Files
+## Project Structure
 
-| File | Description |
-|------|-------------|
-| `drone_controller.py` | **Your landing algorithm (used everywhere)** |
-| `standalone_simulation.py` | PyBullet simulation |
-| `run_gazebo.py` | Gazebo + ROS 2 interface |
-| `run_ardupilot.py` | ArduPilot + MAVLink interface |
-| `config.py` | Configuration settings |
-| `camera_viewer.py` | Camera feed window |
+```
+simulation/
+├── config.py
+├── src/
+│   └── drone_controller.py   # Your algorithm
+├── scripts/
+│   ├── run_ardupilot_sim.sh
+│   └── run_ardupilot_controller.sh
+├── gazebo/
+│   ├── worlds/               # Your worlds
+│   └── models/               # Your models
+├── setup/
+└── docs/
+```
 
-## Sensors (GPS-Denied)
+## 3-Phase Mission
 
-| Sensor | Data |
-|--------|------|
-| IMU | Orientation, angular velocity |
-| Altimeter | Altitude, vertical velocity |
-| Camera | Downward image |
-| Landing Pad | Relative position (when visible) |
+| Phase | Action |
+|-------|--------|
+| SEARCH | Find QR code on rover |
+| COMMAND | Send commands to rover |
+| LAND | Land on rover |
 
 ## Documentation
 
 - [Installation](docs/installation.md)
-- [Architecture](docs/architecture.md)
 - [ArduPilot Guide](docs/ardupilot.md)
-- [Gazebo Guide](docs/gazebo.md)
-- [Drone Logic Guide](docs/drone_guide.md)
+- [Drone Controller](docs/drone_guide.md)
+- [Custom Worlds](docs/gazebo_worlds.md)
+- [Blender Models](docs/blender_models.md)
+- [Architecture](docs/architecture.md)