Initial Attempt

README.md

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+# Drone Landing Simulation (GPS-Denied)
+
+A GPS-denied drone landing simulation using relative sensors (IMU, altimeter, camera, landing pad detection) with **PyBullet** and **Gazebo** simulators.
+
+## Quick Start
+
+```bash
+# Install (Ubuntu)
+./setup/install_ubuntu.sh
+source activate.sh
+
+# Run PyBullet simulation
+python simulation_host.py      # Terminal 1: Simulator
+python ros_bridge.py           # Terminal 2: ROS bridge
+python controllers.py          # Terminal 3: Drone + Rover controllers
+
+# With moving rover
+python controllers.py --pattern circular --speed 0.3
+```
+
+## Architecture
+
+```
+┌─────────────────────────────────────────────────────────────────────────┐
+│  ┌──────────────────┐                    ┌──────────────────────────┐   │
+│  │ simulation_host  │◄── UDP:5555 ──────►│    ros_bridge.py         │   │
+│  │   (PyBullet)     │                    └────────────┬─────────────┘   │
+│  └──────────────────┘                                 │                 │
+│          OR                                           │                 │
+│  ┌──────────────────┐                    ┌────────────┴─────────────┐   │
+│  │     Gazebo       │◄── ROS Topics ────►│    gazebo_bridge.py      │   │
+│  └──────────────────┘                    └────────────┬─────────────┘   │
+│                                                       │                 │
+│                                          ┌────────────▼─────────────┐   │
+│                                          │    controllers.py        │   │
+│                                          │  ┌─────────────────────┐ │   │
+│                                          │  │  DroneController    │ │   │
+│                                          │  │  RoverController    │ │   │
+│                                          │  └─────────────────────┘ │   │
+│                                          └──────────────────────────┘   │
+└─────────────────────────────────────────────────────────────────────────┘
+```
+
+## Files
+
+| File | Description |
+|------|-------------|
+| `simulation_host.py` | PyBullet physics simulator |
+| `ros_bridge.py` | UDP ↔ ROS 2 bridge |
+| `gazebo_bridge.py` | Gazebo ↔ ROS 2 bridge |
+| `controllers.py` | **Runs drone + rover together** |
+| `drone_controller.py` | Drone landing logic (edit this) |
+| `rover_controller.py` | Moving landing pad |
+
+## Controller Options
+
+```bash
+python controllers.py --help
+
+Options:
+  --pattern, -p   Rover pattern: stationary, linear, circular, random, square
+  --speed, -s     Rover speed in m/s (default: 0.5)
+  --amplitude, -a Rover amplitude in meters (default: 2.0)
+```
+
+## GPS-Denied Sensors
+
+The drone has no GPS. Available sensors:
+
+| Sensor | Data |
+|--------|------|
+| **IMU** | Orientation, angular velocity |
+| **Altimeter** | Altitude, vertical velocity |
+| **Velocity** | Estimated horizontal velocity |
+| **Camera** | 320x240 downward-facing image (base64 JPEG) |
+| **Landing Pad** | Relative position when visible (may be null) |
+
+## Documentation
+
+| Document | Description |
+|----------|-------------|
+| [Installation](docs/installation.md) | Setup for Ubuntu, macOS, Windows |
+| [Architecture](docs/architecture.md) | System components and data flow |
+| [Protocol](docs/protocol.md) | Sensor data formats |
+| [Drone Guide](docs/drone_guide.md) | How to implement landing logic |
+| [Rover Controller](docs/rover_controller.md) | Movement patterns |
+| [PyBullet](docs/pybullet.md) | PyBullet-specific setup |
+| [Gazebo](docs/gazebo.md) | Gazebo-specific setup |
+
+## Getting Started
+
+1. Read [docs/drone_guide.md](docs/drone_guide.md)
+2. Edit `drone_controller.py`
+3. Implement `calculate_landing_maneuver()`
+4. Run: `python controllers.py --pattern stationary`
+5. Increase difficulty: `python controllers.py --pattern circular`