Docs Update

README.md

@@ -1,10 +1,10 @@
 # Drone Landing Simulation (GPS-Denied)
 
-Land a drone on a moving platform using only relative sensors (IMU, altimeter, camera).
+Land a drone on a moving platform using only relative sensors.
 
 ## Quick Start
 
-### Standalone (1 Terminal - Any Platform)
+### Standalone (1 Terminal)
 
 ```bash
 source activate.sh
@@ -22,30 +22,31 @@ 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 SITL (2 Terminals)
+### ArduPilot GPS-Denied (2 Terminals)
 
 **Terminal 1:**
 ```bash
-gz sim -v4 -r ~/ardupilot_gazebo/worlds/iris_runway.sdf
+./scripts/run_ardupilot_sim.sh camera
 ```
 
 **Terminal 2:**
 ```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
 ```
 
 ## Installation
 
 ```bash
-# Ubuntu/Debian
 ./setup/install_ubuntu.sh
-
-# ArduPilot SITL (optional)
-./setup/install_ardupilot.sh
-
-# Activate environment
+./setup/install_ardupilot.sh  # Optional
 source activate.sh
 ```
 
@@ -55,31 +56,30 @@ source activate.sh
 |------|-------------|
 | `standalone_simulation.py` | All-in-one simulation |
 | `run_gazebo.py` | Gazebo controllers |
+| `scripts/run_ardupilot_sim.sh` | ArduPilot launcher (auto GPU) |
+| `camera_viewer.py` | Camera feed window |
 | `drone_controller.py` | **Your landing algorithm** |
-| `camera_viewer.py` | Drone camera window |
 | `config.py` | Configuration |
 
-## Sensors
+## Sensors (GPS-Denied)
 
 | Sensor | Data |
 |--------|------|
 | IMU | Orientation, angular velocity |
 | Altimeter | Altitude, vertical velocity |
-| Camera | 320x240 downward image |
+| Camera | Downward image |
 | Landing Pad | Relative position (when visible) |
 
 ## Options
 
 ```bash
---pattern, -p   stationary, linear, circular, square, random
---speed, -s     Speed in m/s (default: 0.5)
+--pattern   stationary, linear, circular, square, random
+--speed     Speed in m/s (default: 0.5)
 ```
 
-## Documentation
+## Docs
 
-| Document | Description |
-|----------|-------------|
-| [Installation](docs/installation.md) | Setup guide |
-| [Architecture](docs/architecture.md) | System overview |
-| [ArduPilot](docs/ardupilot.md) | ArduPilot SITL |
-| [Drone Guide](docs/drone_guide.md) | Algorithm guide |
+- [Installation](docs/installation.md)
+- [Architecture](docs/architecture.md)
+- [ArduPilot](docs/ardupilot.md)
+- [Gazebo](docs/gazebo.md)