Docs and Controllers Update

docs/pybullet.md

@@ -1,13 +1,15 @@
-# PyBullet Simulation
+# PyBullet Simulation Guide
 
-Running the GPS-denied drone simulation with PyBullet.
+Running the GPS-denied drone simulation with PyBullet physics engine.
 
-## Standalone Mode (Recommended)
+## Standalone Mode (Single Terminal - Any Platform)
 
-No ROS 2 required! Single terminal:
+No ROS 2 required! Works on Windows, macOS, and Linux:
 
 ```bash
-source activate.sh
+source activate.sh  # Linux/macOS
+. .\activate.ps1    # Windows
+
 python standalone_simulation.py --pattern circular --speed 0.3
 ```
 
@@ -24,9 +26,9 @@ Options:
 
 ---
 
-## ROS 2 Mode (2 Terminals)
+## ROS 2 Mode (Two Terminals)
 
-For distributed or remote simulation:
+For distributed or remote simulation with ROS 2:
 
 **Terminal 1 - Simulator:**
 ```bash
@@ -40,6 +42,16 @@ source activate.sh
 python run_bridge.py --pattern circular --speed 0.3
 ```
 
+### How It Works
+
+1. `simulation_host.py` runs PyBullet physics and listens on UDP port 5555
+2. `run_bridge.py` starts:
+   - `ROS2SimulatorBridge` - connects ROS topics to UDP
+   - `DroneController` - your landing algorithm
+   - `RoverController` - moves the landing pad
+
+The rover position is sent to the simulator, so both drone AND rover move!
+
 ### Remote Setup
 
 Run simulator on one machine, controllers on another:
@@ -56,25 +68,32 @@ python run_bridge.py --host 192.168.1.100 --pattern circular
 
 ---
 
-## Building Standalone Executable
+## Configuration
 
-Create a distributable executable:
+All parameters are configurable in `config.py`:
 
-```bash
-source activate.sh
+```python
+DRONE = {
+    "mass": 1.0,
+    "start_position": (0.0, 0.0, 5.0),
+    "thrust_scale": 15.0,
+    ...
+}
 
-# Build standalone simulation (recommended)
-python build_exe.py
+ROVER = {
+    "start_position": (0.0, 0.0, 0.15),
+    "default_pattern": "circular",
+    "default_speed": 0.5,
+    ...
+}
 
-# Build simulation_host
-python build_exe.py simulation_host
-
-# Build all
-python build_exe.py all
+CONTROLLER = {
+    "Kp_z": 0.5,
+    "Kd_z": 0.3,
+    ...
+}
 ```
 
-Executables are created in `dist/`.
-
 ---
 
 ## Simulation Parameters
@@ -83,18 +102,19 @@ Executables are created in `dist/`.
 |-----------|-------|
 | Physics Rate | 240 Hz |
 | Telemetry Rate | 24 Hz |
-| Drone Mass | 1.0 kg |
+| Drone Mass | 1.0 kg (configurable) |
+| Rover Mass | Static (kinematic) |
 | UDP Port | 5555 (commands), 5556 (telemetry) |
 
 ## GPS-Denied Sensors
 
 | Sensor | Description |
 |--------|-------------|
-| IMU | Orientation, angular velocity |
-| Altimeter | Barometric altitude, vertical velocity |
-| Velocity | Optical flow estimate |
-| Camera | 320x240 downward JPEG image |
-| Landing Pad | Vision-based relative position |
+| **IMU** | Orientation (roll, pitch, yaw), angular velocity |
+| **Altimeter** | Altitude above ground, vertical velocity |
+| **Velocity** | Estimated horizontal velocity (x, y, z) |
+| **Camera** | 320x240 downward-facing JPEG image |
+| **Landing Pad** | Vision-based relative position when in camera FOV |
 
 ## Troubleshooting
 
@@ -111,15 +131,33 @@ ssh -X user@host
 
 ### Drone flies erratically
 
-Reduce control gains in `drone_controller.py`:
+Reduce control gains in `config.py`:
 ```python
-Kp = 0.3
-Kd = 0.2
+CONTROLLER = {
+    "Kp_z": 0.3,
+    "Kd_z": 0.2,
+    "Kp_xy": 0.2,
+    "Kd_xy": 0.1,
+}
 ```
 
 ### Camera image not appearing
 
 Install Pillow:
 ```bash
-pip install pillow
+pip install pillow numpy
+```
+
+### Rover not moving (ROS 2 mode)
+
+Ensure `run_bridge.py` is used (not `ros_bridge.py` directly).
+The rover controller must be running to send position updates.
+
+### WSL2 GUI issues
+
+Set display scaling:
+```bash
+export GDK_DPI_SCALE=1.0
+export QT_SCALE_FACTOR=1.0
+python standalone_simulation.py
 ```