Ardupilot Controller Script

docs/drone_guide.md

@@ -7,12 +7,13 @@ Implement your GPS-denied landing algorithm.
 1. Edit `drone_controller.py`
 2. Find `calculate_landing_maneuver()`
 3. Implement your algorithm
-4. Test: `python standalone_simulation.py`
+4. Test with any simulation mode
 
 ## Function to Implement
 
 ```python
 def calculate_landing_maneuver(self, telemetry, rover_telemetry):
+    # Your logic here
     return (thrust, pitch, roll, yaw)
 ```
 
@@ -38,12 +39,16 @@ if landing_pad:
 
 | Value | Range | Effect |
 |-------|-------|--------|
-| thrust | ±1.0 | Up/down |
+| thrust | ±1.0 | Up/down (positive = up) |
 | pitch | ±0.5 | Forward/back |
 | roll | ±0.5 | Left/right |
 | yaw | ±0.5 | Rotation |
 
-## Example Algorithm
+Note: In ArduPilot mode, these are scaled to velocities:
+- Thrust → Z velocity
+- Pitch/Roll → X/Y velocity
+
+## Example Algorithm (PD Control)
 
 ```python
 def calculate_landing_maneuver(self, telemetry, rover_telemetry):
@@ -51,48 +56,18 @@ def calculate_landing_maneuver(self, telemetry, rover_telemetry):
     altitude = alt.get('altitude', 5.0)
     vert_vel = alt.get('vertical_velocity', 0.0)
     
-    vel = telemetry.get('velocity', {})
-    vel_x = vel.get('x', 0.0)
-    vel_y = vel.get('y', 0.0)
-    
-    pad = telemetry.get('landing_pad')
-    
     # Altitude PD control
-    thrust = 0.5 * (0 - altitude) - 0.3 * vert_vel
+    thrust = 0.5 * (target_alt - altitude) - 0.3 * vert_vel
     
     # Horizontal control
+    pad = telemetry.get('landing_pad')
     if pad:
-        pitch = 0.3 * pad['relative_x'] - 0.2 * vel_x
-        roll = 0.3 * pad['relative_y'] - 0.2 * vel_y
+        pitch = 0.3 * pad['relative_x']
+        roll = 0.3 * pad['relative_y']
     else:
-        pitch = -0.2 * vel_x
-        roll = -0.2 * vel_y
+        # Hover
+        pitch = 0
+        roll = 0
     
     return (thrust, pitch, roll, 0.0)
 ```
-
-## Testing
-
-```bash
-# Easy
-python standalone_simulation.py --pattern stationary
-
-# Medium
-python standalone_simulation.py --pattern circular --speed 0.3
-
-# Hard
-python standalone_simulation.py --pattern random --speed 0.5
-```
-
-## Configuration
-
-Edit `config.py`:
-
-```python
-CONTROLLER = {
-    "Kp_z": 0.5,
-    "Kd_z": 0.3,
-    "Kp_xy": 0.3,
-    "Kd_xy": 0.2,
-}
-```