Docs and Controllers Update

README.md

@@ -4,7 +4,7 @@ A GPS-denied drone landing simulation using relative sensors (IMU, altimeter, ca
 
 ## Quick Start
 
-### Standalone Mode (Any Platform)
+### Standalone Mode (Any Platform - No ROS 2 Required)
 
 ```bash
 source activate.sh  # Linux/macOS
@@ -13,7 +13,7 @@ source activate.sh  # Linux/macOS
 python standalone_simulation.py --pattern circular --speed 0.3
 ```
 
-### Two-Terminal Mode - PyBullet (with ROS 2)
+### PyBullet + ROS 2 (Two Terminals)
 
 **Terminal 1 - Simulator:**
 ```bash
@@ -25,20 +25,18 @@ python simulation_host.py
 python run_bridge.py --pattern circular --speed 0.3
 ```
 
-### Two-Terminal Mode - Gazebo (Linux only)
+### Gazebo + ROS 2 (Two Terminals - Linux/WSL2)
 
-**Terminal 1 - Gazebo:**
+**Terminal 1 - Launch Gazebo + Bridge:**
 ```bash
-gz sim gazebo/worlds/drone_landing.sdf
+ros2 launch gazebo/launch/drone_landing.launch.py
 ```
 
-**Terminal 2 - Bridge + Controllers:**
+**Terminal 2 - Run Controllers:**
 ```bash
 python run_gazebo.py --pattern circular --speed 0.3
 ```
 
-That's it! Only 2 terminals needed.
-
 ## Installation
 
 | Platform | Command |
@@ -53,8 +51,8 @@ That's it! Only 2 terminals needed.
 | Feature | Ubuntu | Arch | macOS | Windows | WSL2 |
 |---------|--------|------|-------|---------|------|
 | Standalone | ✅ | ✅ | ✅ | ✅ | ✅ |
-| ROS 2 Mode | ✅ | ⚠️ | ❌ | ❌ | ✅ |
-| Gazebo | ✅ | ⚠️ | ❌ | ❌ | ✅ |
+| PyBullet + ROS 2 | ✅ | ⚠️ | ❌ | ❌ | ✅ |
+| Gazebo + ROS 2 | ✅ | ⚠️ | ❌ | ❌ | ✅ |
 
 ## Files
 
@@ -62,21 +60,32 @@ That's it! Only 2 terminals needed.
 |------|-------------|
 | `standalone_simulation.py` | All-in-one (no ROS 2 required) |
 | `simulation_host.py` | PyBullet simulator server |
-| `run_bridge.py` | **PyBullet bridge + Controllers** |
-| `run_gazebo.py` | **Gazebo bridge + Controllers** |
+| `run_bridge.py` | PyBullet bridge + Controllers |
+| `run_gazebo.py` | Gazebo bridge + Controllers |
 | `config.py` | **Configuration file** (edit to customize) |
-| `drone_controller.py` | Drone landing logic (edit this) |
-| `rover_controller.py` | Moving landing pad |
+| `drone_controller.py` | **Your landing algorithm** (edit this!) |
+| `rover_controller.py` | Moving landing pad controller |
 
-## Options
+## Configuration
+
+Edit `config.py` to customize:
+- Drone/rover starting positions
+- Physical properties (mass, size)
+- Controller gains (Kp, Kd)
+- Landing detection thresholds
+
+## Command Line Options
 
 ```bash
-# Standalone
+# Standalone (no ROS 2)
 python standalone_simulation.py --pattern circular --speed 0.3
 
-# ROS 2 mode
+# PyBullet + ROS 2
 python run_bridge.py --pattern circular --speed 0.3 --host <SIMULATOR_IP>
 
+# Gazebo + ROS 2  
+python run_gazebo.py --pattern circular --speed 0.3
+
 Options:
   --pattern, -p   stationary, linear, circular, square, random
   --speed, -s     Speed in m/s (default: 0.5)
@@ -88,18 +97,20 @@ Options:
 
 | Sensor | Data |
 |--------|------|
-| **IMU** | Orientation, angular velocity |
+| **IMU** | Orientation (roll, pitch, yaw), angular velocity |
 | **Altimeter** | Altitude, vertical velocity |
-| **Velocity** | Estimated horizontal velocity |
-| **Camera** | 320x240 downward-facing image |
-| **Landing Pad** | Relative position when visible |
+| **Velocity** | Estimated horizontal velocity (x, y, z) |
+| **Camera** | 320x240 downward-facing JPEG image |
+| **Landing Pad** | Relative position when visible in camera FOV |
 
 ## Documentation
 
 | Document | Description |
 |----------|-------------|
 | [Installation](docs/installation.md) | Platform setup guides + WSL2 |
-| [Architecture](docs/architecture.md) | System components |
+| [Architecture](docs/architecture.md) | System components diagram |
+| [Gazebo Guide](docs/gazebo.md) | Gazebo-specific instructions |
+| [PyBullet Guide](docs/pybullet.md) | PyBullet-specific instructions |
 | [Protocol](docs/protocol.md) | Sensor data formats |
 | [Drone Guide](docs/drone_guide.md) | Landing algorithm guide |