# Drone Landing Simulation (GPS-Denied)

A GPS-denied drone landing simulation with multiple backends. Land a drone on a moving platform using only relative sensors (IMU, altimeter, camera).

## Quick Start

### Standalone Mode (No ROS 2 - Any Platform)

```bash
source activate.sh
python standalone_simulation.py --pattern circular --speed 0.3
```

### Gazebo + ROS 2 (Linux/WSL2)

**Terminal 1:**
```bash
ros2 launch gazebo/launch/drone_landing.launch.py
```

**Terminal 2:**
```bash
source activate.sh
python run_gazebo.py --pattern circular
python camera_viewer.py  # Optional: view camera feed
```

### ArduPilot SITL (Realistic Flight Controller)

**Terminal 1:**
```bash
source ~/ardu_ws/install/setup.bash
ros2 launch ardupilot_gz_bringup iris_runway.launch.py
```

**Terminal 2:**
```bash
mavproxy.py --console --map --master=:14550
```

## Installation

```bash
# Ubuntu/Debian (includes ROS 2 + Gazebo)
./setup/install_ubuntu.sh

# With ArduPilot SITL
./setup/install_ardupilot.sh

# Activate environment
source activate.sh
```

| Platform | Install Script |
|----------|---------------|
| Ubuntu/Debian | `./setup/install_ubuntu.sh` |
| ArduPilot SITL | `./setup/install_ardupilot.sh` |
| Arch Linux | `./setup/install_arch.sh` |
| macOS | `./setup/install_macos.sh` |
| Windows | `.\setup\install_windows.ps1` |

## Files

| File | Description |
|------|-------------|
| `standalone_simulation.py` | **All-in-one** (no ROS 2) |
| `run_gazebo.py` | Gazebo controllers |
| `run_ardupilot.py` | ArduPilot launcher |
| `camera_viewer.py` | Drone camera window |
| `drone_controller.py` | **Your landing algorithm** |
| `config.py` | Configuration |

## Sensors Available

| Sensor | Data |
|--------|------|
| IMU | Orientation (roll, pitch, yaw), angular velocity |
| Altimeter | Altitude, vertical velocity |
| Velocity | Estimated velocity (x, y, z) |
| Camera | Downward-facing image |
| Landing Pad | Relative position when visible |

## Configuration

Edit `config.py` to customize:
- Drone/rover positions
- Controller gains (Kp, Kd)
- Camera settings
- Landing thresholds

## Command Line Options

```bash
# Movement patterns
--pattern, -p   stationary, linear, circular, square, random
--speed, -s     Speed in m/s (default: 0.5)
--amplitude, -a Amplitude in meters (default: 2.0)
```

## Documentation

| Document | Description |
|----------|-------------|
| [Installation](docs/installation.md) | Full setup guide |
| [Architecture](docs/architecture.md) | System overview |
| [ArduPilot](docs/ardupilot.md) | ArduPilot SITL guide |
| [Gazebo](docs/gazebo.md) | Gazebo guide |