Code reorganization and Drone Logic Update

docs/architecture.md

@@ -1,98 +1,67 @@
-# Architecture Overview
+# Architecture
 
-## Modes
-
-### 1. Standalone (1 Terminal)
-
-```bash
-python standalone_simulation.py --pattern circular
-```
+## System Overview
 
 ```
-┌────────────────────────────────────────┐
-│      standalone_simulation.py          │
-│  PyBullet + Controllers + Camera       │
-└────────────────────────────────────────┘
+┌─────────────────┐     ┌─────────────────┐     ┌─────────────────┐
+│ Gazebo          │◄───►│ ArduPilot SITL  │◄───►│ Controller      │
+│ (Physics)       │JSON │ (Flight Ctrl)   │MAV  │ (Your Logic)    │
+└─────────────────┘     └─────────────────┘     └─────────────────┘
+        │                                               │
+        ▼                                               ▼
+  ~/ardupilot_gazebo                          src/drone_controller.py
 ```
 
-### 2. Gazebo + ROS 2 (2 Terminals)
+## Terminal Layout
 
+**Terminal 1:**
 ```
-Terminal 1                    Terminal 2
-┌───────────────────┐        ┌───────────────────┐
-│ Gazebo + Bridge   │◄──────►│ run_gazebo.py     │
-└───────────────────┘  ROS   └───────────────────┘
+./scripts/run_ardupilot_sim.sh
+    │
+    ▼
+Gazebo + ArduPilot Plugin
 ```
 
-### 3. ArduPilot (2 Terminals)
-
+**Terminal 2:**
 ```
-Terminal 1                    Terminal 2
-┌───────────────────┐        ┌────────────────────────────┐
-│ Gazebo +          │◄──────►│ run_ardupilot_controller.sh│
-│ ArduPilot Plugin  │  JSON  │ ┌──────────────────┐       │
-└───────────────────┘        │ │ ArduPilot SITL   │       │
-                             │ └─────────┬────────┘       │
-                             │           │ MAVLink        │
-                             │ ┌─────────▼────────┐       │
-                             │ │ run_ardupilot.py │       │
-                             │ └──────────────────┘       │
-                             └────────────────────────────┘
+./scripts/run_ardupilot_controller.sh
+    │
+    ├── ArduPilot SITL (background)
+    │
+    └── run_ardupilot.py
+            │
+            └── src/drone_controller.py
 ```
 
 ## Data Flow
 
-### Standalone
 ```
-Controller → PyBullet → Telemetry → Controller
-```
-
-### Gazebo
-```
-Controller → /cmd_vel → Gazebo → /odometry → Controller
-```
-
-### ArduPilot
-```
-Gazebo ◄─── JSON ───► SITL ◄─── MAVLink ───► Controller
+Gazebo ◄─── JSON/UDP ───► SITL ◄─── MAVLink ───► Controller
+  │                         │                        │
+  │ Physics                 │ Flight control         │ Your logic
+  │ Sensors                 │ EKF                    │ 3-phase mission
+  │ Rendering               │ Stabilization          │ QR detection
+  ▼                         ▼                        ▼
+ Display              Attitude/Position          Commands
 ```
 
 ## Key Files
 
 | File | Purpose |
 |------|---------|
-| `drone_controller.py` | **Your landing algorithm (used in ALL modes)** |
-| `run_ardupilot.py` | MAVLink interface for ArduPilot |
-| `run_gazebo.py` | ROS 2 interface for Gazebo |
-| `standalone_simulation.py` | PyBullet simulation engine |
-| `config.py` | Shared configuration |
+| `src/drone_controller.py` | 3-phase mission logic |
+| `scripts/run_ardupilot.py` | MAVLink interface |
+| `src/mavlink_bridge.py` | MAVLink utilities |
+| `src/gazebo_bridge.py` | Gazebo ROS bridge |
+| `config.py` | Configuration |
 
-## GPS-Denied Sensors
+## 3-Phase Mission
 
-The controller receives this standardized telemetry structure in all modes:
-
-```python
-telemetry = {
-    "altimeter": {
-        "altitude": float,           # Meters
-        "vertical_velocity": float   # m/s (positive = up)
-    },
-    "velocity": {                    # Body or Local frame
-        "x": float,
-        "y": float,
-        "z": float
-    },
-    "imu": {
-        "orientation": {
-            "roll": float,
-            "pitch": float,
-            "yaw": float
-        }
-    },
-    "landing_pad": {                 # If visible (None otherwise)
-        "relative_x": float,
-        "relative_y": float,
-        "distance": float
-    }
-}
+```
+┌────────┐    QR Found    ┌─────────┐    Timeout    ┌──────┐
+│ SEARCH │───────────────►│ COMMAND │──────────────►│ LAND │
+└────────┘                └─────────┘               └──────┘
+     │                         │                        │
+     ▼                         ▼                        ▼
+  Detect QR              Send to rover           Track & descend
 ```