diff --git a/scripts/run_ardupilot.py b/scripts/run_ardupilot.py
index 8147af7..65bc169 100644
--- a/scripts/run_ardupilot.py
+++ b/scripts/run_ardupilot.py
@@ -199,6 +199,52 @@ class ArduPilotInterface:
             0, yaw_rate  # yaw, yaw_rate
         )
 
+class SimpleController:
+    """Simple landing controller that doesn't require ROS 2."""
+    
+    def __init__(self):
+        self.Kp_z = CONTROLLER.get("Kp_z", 0.5)
+        self.Kd_z = CONTROLLER.get("Kd_z", 0.3)
+        self.Kp_xy = CONTROLLER.get("Kp_xy", 0.3)
+        self.Kd_xy = CONTROLLER.get("Kd_xy", 0.2)
+    
+    def calculate_landing_maneuver(self, telemetry, rover_telemetry=None):
+        """Calculate control outputs for landing."""
+        altimeter = telemetry.get('altimeter', {})
+        altitude = altimeter.get('altitude', 5.0)
+        vertical_vel = altimeter.get('vertical_velocity', 0.0)
+        
+        velocity = telemetry.get('velocity', {'x': 0, 'y': 0, 'z': 0})
+        vel_x = velocity.get('x', 0.0)
+        vel_y = velocity.get('y', 0.0)
+        
+        landing_pad = telemetry.get('landing_pad', None)
+        
+        # Descent rate control
+        if altitude > 1.0:
+            target_descent_rate = -0.5
+        else:
+            target_descent_rate = -0.2
+        
+        descent_error = target_descent_rate - vertical_vel
+        thrust = self.Kp_z * descent_error
+        
+        # Horizontal control
+        if landing_pad is not None:
+            target_x = landing_pad.get('relative_x', 0.0)
+            target_y = landing_pad.get('relative_y', 0.0)
+            
+            pitch = self.Kp_xy * target_x - self.Kd_xy * vel_x
+            roll = self.Kp_xy * target_y - self.Kd_xy * vel_y
+        else:
+            # Just dampen velocity
+            pitch = -self.Kd_xy * vel_x
+            roll = -self.Kd_xy * vel_y
+        
+        yaw = 0.0
+        
+        return (thrust, pitch, roll, yaw)
+
 
 def main():
     parser = argparse.ArgumentParser(description="ArduPilot Drone Controller")
@@ -219,8 +265,8 @@ def main():
         print("Make sure sim_vehicle.py is running")
         sys.exit(1)
     
-    # Create drone controller
-    controller = DroneController()
+    # Create simple controller (no ROS 2 required)
+    controller = SimpleController()
     
     print("\n" + "=" * 50)
     print("  ArduPilot GPS-Denied Controller")