Docs and Controllers Update

drone_controller.py

@@ -174,36 +174,25 @@ class DroneController(Node):
         
         landing_pad = telemetry.get('landing_pad', None)
         
-        # Camera image is available in telemetry['camera']['image']
-        # Decode with: base64.b64decode(telemetry['camera']['image'])
+        # Descent control
+        if altitude > 1.0:
+            target_descent_rate = -0.5
+        else:
+            target_descent_rate = -0.2
         
-        # Default target
-        target_x = 0.0
-        target_y = 0.0
+        descent_error = target_descent_rate - vertical_vel
+        thrust = self._Kp_z * descent_error
         
-        # Use landing pad detection for positioning
+        # Horizontal control
         if landing_pad is not None:
             target_x = landing_pad.get('relative_x', 0.0)
             target_y = landing_pad.get('relative_y', 0.0)
-        
-        # TODO: Implement your GPS-denied landing algorithm
-        # You can use the camera image for custom vision processing
-        
-        # Simple PD controller for altitude
-        target_altitude = 0.0
-        altitude_error = target_altitude - altitude
-        Kp_z, Kd_z = 0.5, 0.3
-        thrust = Kp_z * altitude_error - Kd_z * vertical_vel
-        
-        # Horizontal control based on landing pad detection
-        Kp_xy, Kd_xy = 0.3, 0.2
-        
-        if landing_pad is not None:
-            pitch = Kp_xy * target_x - Kd_xy * vel_x
-            roll = Kp_xy * target_y - Kd_xy * vel_y
+            
+            pitch = self._Kp_xy * target_x - self._Kd_xy * vel_x
+            roll = self._Kp_xy * target_y - self._Kd_xy * vel_y
         else:
-            pitch = -Kd_xy * vel_x
-            roll = -Kd_xy * vel_y
+            pitch = -self._Kd_xy * vel_x
+            roll = -self._Kd_xy * vel_y
         
         yaw = 0.0