Docs Update

docs/architecture.md

@@ -1,8 +1,8 @@
 # Architecture Overview
 
-## Operation Modes
+## Modes
 
-### 1. Standalone (Any Platform, 1 Terminal)
+### 1. Standalone (1 Terminal)
 
 ```bash
 python standalone_simulation.py --pattern circular
@@ -11,79 +11,68 @@ python standalone_simulation.py --pattern circular
 ```
 ┌────────────────────────────────────────┐
 │      standalone_simulation.py          │
-│  PyBullet Physics + Camera + Controllers│
+│  PyBullet + Controllers + Camera       │
 └────────────────────────────────────────┘
 ```
 
 ### 2. Gazebo + ROS 2 (2 Terminals)
 
-**Terminal 1:**
-```bash
-ros2 launch gazebo/launch/drone_landing.launch.py
-```
-
-**Terminal 2:**
-```bash
-python run_gazebo.py --pattern circular
-```
-
 ```
 Terminal 1                    Terminal 2
 ┌───────────────────┐        ┌───────────────────┐
 │ Gazebo + Bridge   │◄──────►│ run_gazebo.py     │
-│ (Physics)         │  ROS   │ + Controllers     │
-└───────────────────┘        └───────────────────┘
+└───────────────────┘  ROS   └───────────────────┘
 ```
 
-### 3. ArduPilot SITL + Gazebo (2 Terminals)
-
-**Terminal 1:**
-```bash
-gz sim -v4 -r ~/ardupilot_gazebo/worlds/iris_runway.sdf
-```
-
-**Terminal 2:**
-```bash
-sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
-```
+### 3. ArduPilot GPS-Denied (2 Terminals)
 
 ```
 Terminal 1                    Terminal 2
 ┌───────────────────┐        ┌───────────────────┐
 │ Gazebo +          │◄──────►│ ArduPilot SITL    │
 │ ArduPilot Plugin  │  JSON  │ + MAVProxy        │
-└───────────────────┘  UDP   └───────────────────┘
+└───────────────────┘        └───────────────────┘
 ```
 
-**Key features:**
-- Full ArduPilot flight controller
-- EKF, stabilization, failsafes
-- MAVLink protocol
-- Compatible with QGroundControl, Mission Planner
+## Data Flow
 
-## Key Components
+### Standalone
+```
+Controller → PyBullet → Telemetry → Controller
+```
 
-| Component | Description |
-|-----------|-------------|
-| `standalone_simulation.py` | All-in-one PyBullet simulation |
-| `run_gazebo.py` | Gazebo bridge + controllers |
+### Gazebo
+```
+Controller → /cmd_vel → Gazebo → /odometry → Controller
+```
+
+### ArduPilot
+```
+Gazebo ◄─── JSON/UDP ───► SITL ◄─── MAVLink ───► MAVProxy
+```
+
+## Key Files
+
+| File | Purpose |
+|------|---------|
 | `drone_controller.py` | Your landing algorithm |
-| `camera_viewer.py` | Camera display window |
+| `gazebo_bridge.py` | Gazebo ↔ ROS bridge |
+| `camera_viewer.py` | Camera display |
+| `config.py` | Configuration |
 
-## ROS 2 Topics (Gazebo Mode)
-
-| Topic | Direction | Description |
-|-------|-----------|-------------|
-| `/drone/telemetry` | ← | Sensor data (JSON) |
-| `/cmd_vel` | → | Velocity commands |
-| `/drone/camera` | ← | Camera images |
-
-## Sensors
+## GPS-Denied Sensors
 
 | Sensor | Data |
 |--------|------|
-| IMU | orientation, angular_velocity |
-| Altimeter | altitude, vertical_velocity |
-| Velocity | x, y, z (m/s) |
-| Camera | 320x240 image |
-| Landing Pad | relative_x, relative_y (when visible) |
+| IMU | Orientation, angular velocity |
+| Altimeter | Altitude, vertical velocity |
+| Camera | Downward image |
+| Landing Pad | Relative position |
+
+## Topics
+
+| Topic | Direction |
+|-------|-----------|
+| `/cmd_vel` | → Drone commands |
+| `/drone/telemetry` | ← Sensor data |
+| `/drone/camera` | ← Camera images |