# DroneController Guide

## 3-Phase Mission

```
SEARCH ──► COMMAND ──► LAND ──► COMPLETE
```

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

## Your Code

Edit `src/drone_controller.py`:

### Search Phase
```python
def calculate_search_maneuver(self, telemetry):
    return (thrust, pitch, roll, yaw)

def detect_qr_code(self):
    return {'data': 'qr_content', 'position': {...}} or None
```

### Command Phase
```python
def generate_rover_command(self, qr_data):
    return {'type': 'move', 'x': 0, 'y': 0}
```

### Land Phase
```python
def calculate_landing_maneuver(self, telemetry, rover_telemetry):
    return (thrust, pitch, roll, yaw)
```

## Telemetry

```python
telemetry = {
    "altimeter": {"altitude": 5.0, "vertical_velocity": -0.1},
    "velocity": {"x": 0, "y": 0, "z": 0},
    "imu": {"orientation": {"roll": 0, "pitch": 0, "yaw": 0}},
    "landing_pad": {"relative_x": 0.5, "relative_y": -0.2, "distance": 5.0}
}
```

## Control Output

| Value | Range | Effect |
|-------|-------|--------|
| thrust | ±1.0 | Vertical velocity |
| pitch | ±0.5 | Forward/back |
| roll | ±0.5 | Left/right |
| yaw | ±0.5 | Rotation |

## Configuration

Edit `config.py`:

```python
CONTROLLER = {
    "Kp_z": 0.5,
    "Kd_z": 0.3,
    "Kp_xy": 0.3,
    "Kd_xy": 0.2,
    "rate": 50,
}
```

## Testing

```bash
./scripts/run_ardupilot_sim.sh runway
./scripts/run_ardupilot_controller.sh
```