Docs Update

docs/drone_guide.md

@@ -1,6 +1,6 @@
 # DroneController Guide
 
-Implement your GPS-denied landing algorithm in `drone_controller.py`.
+Implement your GPS-denied landing algorithm.
 
 ## Quick Start
 
@@ -9,25 +9,14 @@ Implement your GPS-denied landing algorithm in `drone_controller.py`.
 3. Implement your algorithm
 4. Test: `python standalone_simulation.py`
 
-## Sensors Available
-
-| Sensor | Description |
-|--------|-------------|
-| IMU | Orientation, angular velocity |
-| Altimeter | Altitude, vertical velocity |
-| Velocity | Estimated velocity (x, y, z) |
-| Camera | 320x240 downward image |
-| Landing Pad | Relative position (may be null!) |
-
 ## Function to Implement
 
 ```python
 def calculate_landing_maneuver(self, telemetry, rover_telemetry):
-    # Your code here
     return (thrust, pitch, roll, yaw)
 ```
 
-## Sensor Data
+## Sensors (GPS-Denied)
 
 ```python
 # Altitude
@@ -58,23 +47,23 @@ if landing_pad:
 
 ```python
 def calculate_landing_maneuver(self, telemetry, rover_telemetry):
-    altimeter = telemetry.get('altimeter', {})
-    altitude = altimeter.get('altitude', 5.0)
-    vertical_vel = altimeter.get('vertical_velocity', 0.0)
+    alt = telemetry.get('altimeter', {})
+    altitude = alt.get('altitude', 5.0)
+    vert_vel = alt.get('vertical_velocity', 0.0)
     
-    velocity = telemetry.get('velocity', {})
-    vel_x = velocity.get('x', 0.0)
-    vel_y = velocity.get('y', 0.0)
+    vel = telemetry.get('velocity', {})
+    vel_x = vel.get('x', 0.0)
+    vel_y = vel.get('y', 0.0)
     
-    landing_pad = telemetry.get('landing_pad')
+    pad = telemetry.get('landing_pad')
     
-    # Altitude control
-    thrust = 0.5 * (0 - altitude) - 0.3 * vertical_vel
+    # Altitude PD control
+    thrust = 0.5 * (0 - altitude) - 0.3 * vert_vel
     
     # Horizontal control
-    if landing_pad:
-        pitch = 0.3 * landing_pad['relative_x'] - 0.2 * vel_x
-        roll = 0.3 * landing_pad['relative_y'] - 0.2 * vel_y
+    if pad:
+        pitch = 0.3 * pad['relative_x'] - 0.2 * vel_x
+        roll = 0.3 * pad['relative_y'] - 0.2 * vel_y
     else:
         pitch = -0.2 * vel_x
         roll = -0.2 * vel_y
@@ -82,33 +71,16 @@ def calculate_landing_maneuver(self, telemetry, rover_telemetry):
     return (thrust, pitch, roll, 0.0)
 ```
 
-## Using the Camera
-
-```python
-import cv2
-import numpy as np
-import base64
-
-camera = telemetry.get('camera', {})
-image_b64 = camera.get('image')
-
-if image_b64:
-    image_bytes = base64.b64decode(image_b64)
-    nparr = np.frombuffer(image_bytes, np.uint8)
-    image = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
-    # Process image...
-```
-
 ## Testing
 
 ```bash
-# Easy - stationary
+# Easy
 python standalone_simulation.py --pattern stationary
 
-# Medium - circular
+# Medium
 python standalone_simulation.py --pattern circular --speed 0.3
 
-# Hard - random
+# Hard
 python standalone_simulation.py --pattern random --speed 0.5
 ```
 
@@ -118,9 +90,9 @@ Edit `config.py`:
 
 ```python
 CONTROLLER = {
-    "Kp_z": 0.5,    # Altitude proportional
-    "Kd_z": 0.3,    # Altitude derivative
-    "Kp_xy": 0.3,   # Horizontal proportional
-    "Kd_xy": 0.2,   # Horizontal derivative
+    "Kp_z": 0.5,
+    "Kd_z": 0.3,
+    "Kp_xy": 0.3,
+    "Kd_xy": 0.2,
 }
 ```