Docs and Controllers Update

docs/drone_guide.md

@@ -7,7 +7,10 @@ Implement your landing algorithm in `drone_controller.py`.
 1. Edit `drone_controller.py`
 2. Find `calculate_landing_maneuver()`
 3. Implement your algorithm
-4. Test: `python controllers.py --pattern stationary`
+4. Test with any mode:
+   - `python standalone_simulation.py --pattern stationary` (standalone)
+   - `python run_bridge.py --pattern stationary` (PyBullet + ROS 2)
+   - `python run_gazebo.py --pattern stationary` (Gazebo + ROS 2)
 
 ## GPS-Denied Challenge
 
@@ -176,12 +179,29 @@ def process_camera(telemetry):
 ## Testing
 
 ```bash
-# Easy
-python controllers.py --pattern stationary
+# Easy - stationary rover
+python standalone_simulation.py --pattern stationary
 
-# Medium
-python controllers.py --pattern circular --speed 0.2
+# Medium - slow circular movement
+python standalone_simulation.py --pattern circular --speed 0.2
 
-# Hard
-python controllers.py --pattern random --speed 0.3
+# Hard - faster random movement
+python standalone_simulation.py --pattern random --speed 0.3
+
+# With ROS 2 (Gazebo)
+ros2 launch gazebo/launch/drone_landing.launch.py  # Terminal 1
+python run_gazebo.py --pattern circular            # Terminal 2
+```
+
+## Configuration
+
+Edit `config.py` to tune controller gains:
+
+```python
+CONTROLLER = {
+    "Kp_z": 0.5,    # Altitude proportional gain
+    "Kd_z": 0.3,    # Altitude derivative gain
+    "Kp_xy": 0.3,   # Horizontal proportional gain
+    "Kd_xy": 0.2,   # Horizontal derivative gain
+}
 ```