# GPS-Denied Drone Landing Simulation

ArduPilot + ROS 2 + Gazebo (ARG) simulation for landing on a moving platform.

## Quick Start (2 Terminals)

**Terminal 1 - Gazebo:**
```bash
./scripts/run_ardupilot_sim.sh runway
```

**Terminal 2 - Controller:**
```bash
./scripts/run_ardupilot_controller.sh
```

## World Options

```bash
./scripts/run_ardupilot_sim.sh runway     # Default
./scripts/run_ardupilot_sim.sh warehouse  # Indoor
./scripts/run_ardupilot_sim.sh custom     # Custom landing pad
./scripts/run_ardupilot_sim.sh my_world   # gazebo/worlds/my_world.sdf
```

## Installation

```bash
./setup/install_ubuntu.sh
./setup/install_ardupilot.sh
source ~/.bashrc
```

## Project Structure

```
simulation/
├── config.py
├── src/
│   └── drone_controller.py   # Your algorithm
├── scripts/
│   ├── run_ardupilot_sim.sh
│   └── run_ardupilot_controller.sh
├── gazebo/
│   ├── worlds/               # Your worlds
│   └── models/               # Your models
├── setup/
└── docs/
```

## 3-Phase Mission

| Phase | Action |
|-------|--------|
| SEARCH | Find QR code on rover |
| COMMAND | Send commands to rover |
| LAND | Land on rover |

## Documentation

- [Installation](docs/installation.md)
- [ArduPilot Guide](docs/ardupilot.md)
- [Drone Controller](docs/drone_guide.md)
- [Custom Worlds](docs/gazebo_worlds.md)
- [Blender Models](docs/blender_models.md)
- [Architecture](docs/architecture.md)