Docs and Controllers Update

docs/architecture.md

@@ -15,11 +15,12 @@ Single-process simulation - no ROS 2 or networking required:
 │  │  PyBullet Physics + Camera       │  │
 │  │  Built-in Landing Controller     │  │
 │  │  Rover Movement Patterns         │  │
+│  │  Configuration from config.py    │  │
 │  └──────────────────────────────────┘  │
 └────────────────────────────────────────┘
 ```
 
-### 2. PyBullet + ROS 2 Mode (2 Terminals)
+### 2. PyBullet + ROS 2 Mode (Two Terminals)
 
 ```
 Terminal 1                    Terminal 2
@@ -33,45 +34,65 @@ Terminal 1                    Terminal 2
                              └──────────────────────────┘
 ```
 
-### 3. Gazebo + ROS 2 Mode (2 Terminals, Linux Only)
+Data flow:
+- RoverController publishes position → Bridge sends to Simulator
+- Simulator moves rover visually AND sends back telemetry
+- DroneController receives telemetry, publishes commands
+- Bridge forwards commands to Simulator
+
+### 3. Gazebo + ROS 2 Mode (Two Terminals, Linux/WSL2)
 
 ```
-Terminal 1                    Terminal 2
-┌──────────────────┐         ┌──────────────────────────┐
-│     Gazebo       │◄─ROS───►│      run_gazebo.py       │
-│  (gz sim ...)    │         │  ┌────────────────────┐  │
-│                  │         │  │ GazeboBridge       │  │
-│                  │         │  │ DroneController    │  │
-│                  │         │  │ RoverController    │  │
-└──────────────────┘         │  └────────────────────┘  │
-                             └──────────────────────────┘
+Terminal 1                          Terminal 2
+┌───────────────────────────┐      ┌──────────────────────────┐
+│ ros2 launch ... .launch.py│      │      run_gazebo.py       │
+│  ┌─────────────────────┐  │      │  ┌────────────────────┐  │
+│  │ Gazebo (ign gazebo) │  │      │  │ GazeboBridge       │  │
+│  │  - Drone (vel ctrl) │  │◄────►│  │ DroneController    │  │
+│  │  - Rover (vel ctrl) │  │ ROS  │  │ RoverController    │  │
+│  ├─────────────────────┤  │      │  └────────────────────┘  │
+│  │ ros_gz_bridge       │  │      └──────────────────────────┘
+│  └─────────────────────┘  │
+└───────────────────────────┘
 ```
 
+Data flow:
+- RoverController publishes to `/rover/cmd_vel` → Gazebo moves rover
+- Gazebo publishes odometry → GazeboBridge converts to telemetry
+- DroneController receives telemetry, publishes to `/cmd_vel`
+- GazeboBridge forwards to `/drone/cmd_vel` → Gazebo moves drone
+
 ## Components
 
 | File | Description |
 |------|-------------|
+| `config.py` | Central configuration (positions, physics, gains) |
 | `standalone_simulation.py` | All-in-one simulation |
 | `simulation_host.py` | PyBullet physics server (UDP) |
 | `run_bridge.py` | PyBullet bridge + controllers |
 | `run_gazebo.py` | Gazebo bridge + controllers |
-| `drone_controller.py` | Landing algorithm |
+| `drone_controller.py` | **Your landing algorithm** |
 | `rover_controller.py` | Moving landing pad |
+| `ros_bridge.py` | ROS-UDP bridge (used by run_bridge.py) |
+| `gazebo_bridge.py` | Gazebo-ROS bridge (used by run_gazebo.py) |
 | `gazebo/launch/drone_landing.launch.py` | ROS 2 launch file for Gazebo |
+| `gazebo/worlds/drone_landing.sdf` | Gazebo world with drone + rover |
 
-## ROS Topics
+## ROS 2 Topics
 
 | Topic | Type | Description |
 |-------|------|-------------|
-| `/cmd_vel` | `Twist` | Drone velocity commands |
-| `/drone/telemetry` | `String` | GPS-denied sensor data |
-| `/rover/telemetry` | `String` | Rover position (internal) |
+| `/cmd_vel` | `Twist` | Drone commands from DroneController |
+| `/drone/cmd_vel` | `Twist` | Drone commands to Gazebo |
+| `/drone/telemetry` | `String` | GPS-denied sensor data (JSON) |
+| `/rover/cmd_vel` | `Twist` | Rover velocity to simulator |
+| `/rover/telemetry` | `String` | Rover position (JSON) |
 
 ## Network Configuration
 
 All components default to `0.0.0.0` for network accessibility.
 
-### Remote Setup
+### Remote Setup (PyBullet mode)
 
 **Machine 1 (with display):**
 ```bash
@@ -87,8 +108,8 @@ python run_bridge.py --host 192.168.1.100
 
 | Port | Direction | Content |
 |------|-----------|---------|
-| 5555 | Bridge → Simulator | Commands |
-| 5556 | Simulator → Bridge | Telemetry |
+| 5555 | Bridge → Simulator | Commands (JSON) |
+| 5556 | Simulator → Bridge | Telemetry (JSON) |
 
 ## GPS-Denied Sensors
 
@@ -96,11 +117,23 @@ All modes provide the same sensor data:
 
 | Sensor | Data |
 |--------|------|
-| IMU | Orientation, angular velocity |
-| Altimeter | Altitude, vertical velocity |
-| Velocity | Estimated from optical flow |
-| Camera | 320x240 downward JPEG |
-| Landing Pad | Relative position (when visible) |
+| **IMU** | Orientation (roll, pitch, yaw), angular velocity |
+| **Altimeter** | Altitude above ground, vertical velocity |
+| **Velocity** | Estimated velocity (x, y, z) |
+| **Camera** | 320x240 downward JPEG (base64) |
+| **Landing Pad** | Relative position (x, y, distance) when visible |
+
+## Configuration (config.py)
+
+| Section | Parameters |
+|---------|------------|
+| `DRONE` | mass, size, color, start_position, thrust/torque scales |
+| `ROVER` | size, color, start_position, default_pattern, default_speed |
+| `CAMERA` | width, height, fov, jpeg_quality |
+| `PHYSICS` | gravity, timestep, telemetry_rate |
+| `CONTROLLER` | Kp_z, Kd_z, Kp_xy, Kd_xy, rate |
+| `LANDING` | success_distance, success_velocity, height_threshold |
+| `NETWORK` | host, command_port, telemetry_port |
 
 ## Platform Support