Ardupilot Controller Script

README.md

@@ -22,32 +22,25 @@ ros2 launch gazebo/launch/drone_landing.launch.py
 ```bash
 source activate.sh
 python run_gazebo.py --pattern circular
-python camera_viewer.py  # View camera
 ```
 
 ### ArduPilot GPS-Denied (2 Terminals)
 
-**Terminal 1:**
+**Terminal 1 - Gazebo:**
 ```bash
 ./scripts/run_ardupilot_sim.sh runway
-# Options: runway, warehouse, zephyr
 ```
 
-**Terminal 2:**
+**Terminal 2 - Controller:**
 ```bash
-sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
-
-# GPS-denied mode:
-param set ARMING_CHECK 0
-mode stabilize
-arm throttle force
+./scripts/run_ardupilot_controller.sh
 ```
 
 ## Installation
 
 ```bash
 ./setup/install_ubuntu.sh
-./setup/install_ardupilot.sh  # Optional
+./setup/install_ardupilot.sh  # Optional for ArduPilot
 source activate.sh
 ```
 
@@ -55,12 +48,12 @@ source activate.sh
 
 | File | Description |
 |------|-------------|
-| `standalone_simulation.py` | All-in-one simulation |
-| `run_gazebo.py` | Gazebo controllers |
-| `scripts/run_ardupilot_sim.sh` | ArduPilot launcher (auto GPU) |
+| `drone_controller.py` | **Your landing algorithm (used everywhere)** |
+| `standalone_simulation.py` | PyBullet simulation |
+| `run_gazebo.py` | Gazebo + ROS 2 interface |
+| `run_ardupilot.py` | ArduPilot + MAVLink interface |
+| `config.py` | Configuration settings |
 | `camera_viewer.py` | Camera feed window |
-| `drone_controller.py` | **Your landing algorithm** |
-| `config.py` | Configuration |
 
 ## Sensors (GPS-Denied)
 
@@ -71,16 +64,10 @@ source activate.sh
 | Camera | Downward image |
 | Landing Pad | Relative position (when visible) |
 
-## Options
-
-```bash
---pattern   stationary, linear, circular, square, random
---speed     Speed in m/s (default: 0.5)
-```
-
-## Docs
+## Documentation
 
 - [Installation](docs/installation.md)
 - [Architecture](docs/architecture.md)
-- [ArduPilot](docs/ardupilot.md)
-- [Gazebo](docs/gazebo.md)
+- [ArduPilot Guide](docs/ardupilot.md)
+- [Gazebo Guide](docs/gazebo.md)
+- [Drone Logic Guide](docs/drone_guide.md)