Ardupilot Controller Script

docs/architecture.md

@@ -24,14 +24,20 @@ Terminal 1                    Terminal 2
 └───────────────────┘  ROS   └───────────────────┘
 ```
 
-### 3. ArduPilot GPS-Denied (2 Terminals)
+### 3. ArduPilot (2 Terminals)
 
 ```
 Terminal 1                    Terminal 2
-┌───────────────────┐        ┌───────────────────┐
-│ Gazebo +          │◄──────►│ ArduPilot SITL    │
-│ ArduPilot Plugin  │  JSON  │ + MAVProxy        │
-└───────────────────┘        └───────────────────┘
+┌───────────────────┐        ┌────────────────────────────┐
+│ Gazebo +          │◄──────►│ run_ardupilot_controller.sh│
+│ ArduPilot Plugin  │  JSON  │ ┌──────────────────┐       │
+└───────────────────┘        │ │ ArduPilot SITL   │       │
+                             │ └─────────┬────────┘       │
+                             │           │ MAVLink        │
+                             │ ┌─────────▼────────┐       │
+                             │ │ run_ardupilot.py │       │
+                             │ └──────────────────┘       │
+                             └────────────────────────────┘
 ```
 
 ## Data Flow
@@ -48,31 +54,45 @@ Controller → /cmd_vel → Gazebo → /odometry → Controller
 
 ### ArduPilot
 ```
-Gazebo ◄─── JSON/UDP ───► SITL ◄─── MAVLink ───► MAVProxy
+Gazebo ◄─── JSON ───► SITL ◄─── MAVLink ───► Controller
 ```
 
 ## Key Files
 
 | File | Purpose |
 |------|---------|
-| `drone_controller.py` | Your landing algorithm |
-| `gazebo_bridge.py` | Gazebo ↔ ROS bridge |
-| `camera_viewer.py` | Camera display |
-| `config.py` | Configuration |
+| `drone_controller.py` | **Your landing algorithm (used in ALL modes)** |
+| `run_ardupilot.py` | MAVLink interface for ArduPilot |
+| `run_gazebo.py` | ROS 2 interface for Gazebo |
+| `standalone_simulation.py` | PyBullet simulation engine |
+| `config.py` | Shared configuration |
 
 ## GPS-Denied Sensors
 
-| Sensor | Data |
-|--------|------|
-| IMU | Orientation, angular velocity |
-| Altimeter | Altitude, vertical velocity |
-| Camera | Downward image |
-| Landing Pad | Relative position |
+The controller receives this standardized telemetry structure in all modes:
 
-## Topics
-
-| Topic | Direction |
-|-------|-----------|
-| `/cmd_vel` | → Drone commands |
-| `/drone/telemetry` | ← Sensor data |
-| `/drone/camera` | ← Camera images |
+```python
+telemetry = {
+    "altimeter": {
+        "altitude": float,           # Meters
+        "vertical_velocity": float   # m/s (positive = up)
+    },
+    "velocity": {                    # Body or Local frame
+        "x": float,
+        "y": float,
+        "z": float
+    },
+    "imu": {
+        "orientation": {
+            "roll": float,
+            "pitch": float,
+            "yaw": float
+        }
+    },
+    "landing_pad": {                 # If visible (None otherwise)
+        "relative_x": float,
+        "relative_y": float,
+        "distance": float
+    }
+}
+```