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ArduPilot SITL Update

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2026-01-04 00:24:46 +00:00
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@@ -4,97 +4,58 @@ The RoverController creates a moving landing pad target.
## Usage
The rover controller is automatically included when running `controllers.py`:
```bash
# Stationary rover (default)
python controllers.py
# Stationary (default)
python standalone_simulation.py --pattern stationary
# Moving rover
python controllers.py --pattern circular --speed 0.3
# Moving
python standalone_simulation.py --pattern circular --speed 0.3
```
### Options
## Options
| Option | Short | Default | Description |
|--------|-------|---------|-------------|
| `--pattern` | `-p` | stationary | Movement pattern |
| `--speed` | `-s` | 0.5 | Speed in m/s |
| `--amplitude` | `-a` | 2.0 | Amplitude in meters |
| Option | Default | Description |
|--------|---------|-------------|
| `--pattern, -p` | stationary | Movement pattern |
| `--speed, -s` | 0.5 | Speed in m/s |
| `--amplitude, -a` | 2.0 | Radius in meters |
## Movement Patterns
## Patterns
### Stationary
```bash
python controllers.py --pattern stationary
```
Rover stays at origin. Best for initial testing.
### Linear
```bash
python controllers.py --pattern linear --speed 0.3 --amplitude 2.0
```
Oscillates along X-axis.
### Circular
```bash
python controllers.py --pattern circular --speed 0.5 --amplitude 2.0
```
Follows circular path of radius `amplitude`.
### Random
```bash
python controllers.py --pattern random --speed 0.3 --amplitude 2.0
```
Moves to random positions. Changes target every 3 seconds.
### Square
```bash
python controllers.py --pattern square --speed 0.5 --amplitude 2.0
```
Square pattern with corners at `(±amplitude, ±amplitude)`.
| Pattern | Description |
|---------|-------------|
| stationary | Stays at origin |
| linear | Oscillates along X-axis |
| circular | Circular path |
| square | Square with sharp turns |
| random | Random positions |
## Difficulty Levels
| Level | Pattern | Speed | Description |
|-------|---------|-------|-------------|
| Beginner | stationary | 0.0 | Static target |
| Easy | linear | 0.2 | Predictable 1D |
| Medium | circular | 0.3 | Smooth 2D |
| Hard | random | 0.3 | Unpredictable |
| Expert | square | 0.5 | Sharp turns |
| Level | Pattern | Speed |
|-------|---------|-------|
| Beginner | stationary | 0.0 |
| Easy | linear | 0.2 |
| Medium | circular | 0.3 |
| Hard | random | 0.3 |
| Expert | square | 0.5 |
## Progressive Testing
Start easy and increase difficulty:
```bash
# Step 1: Static target
python controllers.py --pattern stationary
# 1. Static target
python standalone_simulation.py --pattern stationary
# Step 2: Slow linear motion
python controllers.py --pattern linear --speed 0.2
# 2. Slow circular
python standalone_simulation.py --pattern circular --speed 0.2
# Step 3: Slow circular motion
python controllers.py --pattern circular --speed 0.2
# 3. Faster circular
python standalone_simulation.py --pattern circular --speed 0.4
# Step 4: Faster circular
python controllers.py --pattern circular --speed 0.4
# Step 5: Random
python controllers.py --pattern random --speed 0.3
# 4. Random
python standalone_simulation.py --pattern random --speed 0.3
```
## Published Topics
## Note
| Topic | Type | Description |
|-------|------|-------------|
| `/rover/cmd_vel` | `Twist` | Velocity commands |
| `/rover/position` | `Point` | Current position |
| `/rover/telemetry` | `String` | Full state (JSON) |
## GPS-Denied Note
In GPS-denied mode, the drone cannot directly access rover position. Instead, it must detect the landing pad visually via `landing_pad` sensor data.
The `/rover/telemetry` topic is used internally by the RoverController but the DroneController should primarily rely on vision-based `landing_pad` detection in the drone telemetry.
The drone cannot access rover position directly (GPS-denied). It must detect the landing pad visually via the camera.