Added Config.py

config.py

@@ -0,0 +1,103 @@
+# =============================================================================
+# DRONE CONFIGURATION
+# =============================================================================
+
+DRONE = {
+    # Physical properties
+    "mass": 1.0,              # kg
+    "size": (0.3, 0.3, 0.1),  # (width, depth, height) in meters
+    "color": (0.8, 0.1, 0.1, 1.0),  # RGBA (red)
+    
+    # Starting position
+    "start_position": (0.0, 0.0, 5.0),  # (x, y, z) in meters
+    
+    # Control limits
+    "max_thrust": 1.0,   # Maximum thrust command (-1 to 1)
+    "max_pitch": 0.5,    # Maximum pitch command
+    "max_roll": 0.5,     # Maximum roll command
+    "max_yaw": 1.0,      # Maximum yaw command
+    
+    # Thrust/torque scaling
+    "thrust_scale": 15.0,      # Force multiplier for thrust
+    "pitch_torque_scale": 2.0, # Torque multiplier for pitch
+    "roll_torque_scale": 2.0,  # Torque multiplier for roll
+    "yaw_torque_scale": 1.0,   # Torque multiplier for yaw
+}
+
+# =============================================================================
+# ROVER (LANDING PAD) CONFIGURATION
+# =============================================================================
+
+ROVER = {
+    # Physical properties
+    "size": (1.0, 1.0, 0.3),  # (width, depth, height) in meters
+    "color": (0.2, 0.6, 0.2, 1.0),  # RGBA (green)
+    
+    # Starting position
+    "start_position": (0.0, 0.0, 0.15),  # (x, y, z) in meters
+    
+    # Movement patterns (for RoverController)
+    "default_pattern": "stationary",  # stationary, linear, circular, square, random
+    "default_speed": 0.5,             # m/s
+    "default_amplitude": 2.0,         # meters (radius for circular, half-width for others)
+}
+
+# =============================================================================
+# CAMERA CONFIGURATION
+# =============================================================================
+
+CAMERA = {
+    "width": 320,
+    "height": 240,
+    "fov": 60.0,           # Field of view in degrees
+    "near_clip": 0.1,      # Near clipping plane
+    "far_clip": 100.0,     # Far clipping plane
+    "jpeg_quality": 70,    # JPEG compression quality (1-100)
+}
+
+# =============================================================================
+# PHYSICS CONFIGURATION
+# =============================================================================
+
+PHYSICS = {
+    "gravity": -9.81,            # m/s² (negative = downward)
+    "timestep": 1.0 / 240.0,     # Physics timestep (240 Hz)
+    "telemetry_rate": 24,        # Telemetry updates per second
+}
+
+# =============================================================================
+# NETWORK CONFIGURATION
+# =============================================================================
+
+NETWORK = {
+    "host": "0.0.0.0",     # Listen on all interfaces
+    "command_port": 5555,  # Port for receiving commands
+    "telemetry_port": 5556,# Port for sending telemetry
+}
+
+# =============================================================================
+# LANDING DETECTION
+# =============================================================================
+
+LANDING = {
+    "success_distance": 0.5,    # Maximum horizontal distance from pad center (m)
+    "success_velocity": 0.3,    # Maximum landing velocity (m/s)
+    "height_threshold": 0.5,    # Height considered "landed" (m)
+}
+
+# =============================================================================
+# CONTROLLER GAINS (PD Controller)
+# =============================================================================
+
+CONTROLLER = {
+    # Altitude control
+    "Kp_z": 0.5,    # Proportional gain for altitude
+    "Kd_z": 0.3,    # Derivative gain for altitude
+    
+    # Horizontal control
+    "Kp_xy": 0.3,   # Proportional gain for horizontal position
+    "Kd_xy": 0.2,   # Derivative gain for horizontal position
+    
+    # Control rate
+    "rate": 50,     # Control loop frequency (Hz)
+}