WSL Support

README.md

@@ -4,55 +4,36 @@ A GPS-denied drone landing simulation using relative sensors (IMU, altimeter, ca
 
 ## Quick Start
 
-### Windows (Standalone - No ROS 2 Required)
+```bash
+# Install (choose your platform)
+./setup/install_ubuntu.sh   # Ubuntu/Debian
+./setup/install_arch.sh     # Arch Linux
+./setup/install_macos.sh    # macOS
+.\setup\install_windows.ps1 # Windows (PowerShell)
 
-```powershell
-. .\activate.ps1
-python standalone_simulation.py
+# Activate and run
+source activate.sh          # Linux/macOS
+. .\activate.ps1             # Windows
 
-# With moving rover
 python standalone_simulation.py --pattern circular --speed 0.3
 ```
 
-### Linux (Full ROS 2 Setup)
+## Platform Compatibility
 
-```bash
-source activate.sh
+| Feature | Ubuntu | Arch | macOS | Windows |
+|---------|--------|------|-------|---------|
+| Standalone | ✅ | ✅ | ✅ | ✅ |
+| ROS 2 | ✅ | ⚠️ | ❌ | ❌ |
+| Gazebo | ✅ | ⚠️ | ❌ | ❌ |
 
-# Terminal 1: Simulator
-python simulation_host.py
-
-# Terminal 2: ROS bridge
-python ros_bridge.py
-
-# Terminal 3: Controllers
-python controllers.py --pattern circular --speed 0.3
-```
-
-## Architecture
-
-```
-┌─────────────────────────────────────────────────────────────────────────┐
-│  STANDALONE MODE (Windows)              FULL MODE (Linux + ROS 2)       │
-│  ─────────────────────────              ──────────────────────────      │
-│                                                                         │
-│  ┌──────────────────────┐     ┌───────────────┐    ┌───────────────┐   │
-│  │standalone_simulation │     │simulation_host│◄──►│  ros_bridge   │   │
-│  │  (All-in-one)        │     └───────────────┘    └───────┬───────┘   │
-│  └──────────────────────┘                                  │           │
-│                                                  ┌─────────▼─────────┐ │
-│                                                  │   controllers.py  │ │
-│                                                  │ (Drone + Rover)   │ │
-│                                                  └───────────────────┘ │
-└─────────────────────────────────────────────────────────────────────────┘
-```
+**All platforms support standalone mode** - no ROS 2 required!
 
 ## Files
 
 | File | Description |
 |------|-------------|
-| `standalone_simulation.py` | **Windows: All-in-one simulation (no ROS 2)** |
-| `simulation_host.py` | PyBullet physics simulator |
+| `standalone_simulation.py` | **All-in-one simulation (no ROS 2)** |
+| `simulation_host.py` | PyBullet simulator (ROS 2 mode) |
 | `ros_bridge.py` | UDP ↔ ROS 2 bridge |
 | `gazebo_bridge.py` | Gazebo ↔ ROS 2 bridge |
 | `controllers.py` | Runs drone + rover controllers |
@@ -62,22 +43,16 @@ python controllers.py --pattern circular --speed 0.3
 ## Controller Options
 
 ```bash
-# Standalone (Windows)
-python standalone_simulation.py --pattern circular --speed 0.3
-
-# Full mode (Linux)
-python controllers.py --pattern circular --speed 0.3
+python standalone_simulation.py --help
 
 Options:
-  --pattern, -p   Rover pattern: stationary, linear, circular, square
-  --speed, -s     Rover speed in m/s (default: 0.5)
-  --amplitude, -a Rover amplitude in meters (default: 2.0)
+  --pattern, -p   stationary, linear, circular, square
+  --speed, -s     Speed in m/s (default: 0.5)
+  --amplitude, -a Amplitude in meters (default: 2.0)
 ```
 
 ## GPS-Denied Sensors
 
-The drone has no GPS. Available sensors:
-
 | Sensor | Data |
 |--------|------|
 | **IMU** | Orientation, angular velocity |
@@ -90,25 +65,16 @@ The drone has no GPS. Available sensors:
 
 | Document | Description |
 |----------|-------------|
-| [Installation](docs/installation.md) | Setup for Ubuntu, macOS, Windows |
-| [Architecture](docs/architecture.md) | System components and data flow |
+| [Installation](docs/installation.md) | All platform setup guides |
+| [Architecture](docs/architecture.md) | System components |
 | [Protocol](docs/protocol.md) | Sensor data formats |
-| [Drone Guide](docs/drone_guide.md) | How to implement landing logic |
-| [Rover Controller](docs/rover_controller.md) | Movement patterns |
-| [PyBullet](docs/pybullet.md) | PyBullet-specific setup |
-| [Gazebo](docs/gazebo.md) | Gazebo-specific setup (Linux only) |
-
-## Platform Support
-
-| Platform | Standalone | Full (ROS 2) | Gazebo |
-|----------|------------|--------------|--------|
-| Windows | ✅ | ⚠️ Complex | ❌ |
-| Linux | ✅ | ✅ | ✅ |
-| macOS | ✅ | ⚠️ Limited | ❌ |
+| [Drone Guide](docs/drone_guide.md) | Landing algorithm guide |
+| [PyBullet](docs/pybullet.md) | PyBullet setup |
+| [Gazebo](docs/gazebo.md) | Gazebo setup (Linux) |
 
 ## Getting Started
 
-1. **Windows**: Run `python standalone_simulation.py`
-2. **Linux**: Read [docs/drone_guide.md](docs/drone_guide.md)
-3. Edit `drone_controller.py` to implement your algorithm
-4. Test with different rover patterns
+1. Run `python standalone_simulation.py`
+2. Watch the drone land automatically
+3. Edit `drone_controller.py` to implement your own algorithm
+4. Test: `python standalone_simulation.py --pattern circular`