# 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

### Standalone Mode (Any Platform)

```bash
source activate.sh  # Linux/macOS
. .\activate.ps1    # Windows

python standalone_simulation.py --pattern circular --speed 0.3
```

### Two-Terminal Mode - PyBullet (with ROS 2)

**Terminal 1 - Simulator:**
```bash
python simulation_host.py
```

**Terminal 2 - Bridge + Controllers:**
```bash
python run_bridge.py --pattern circular --speed 0.3
```

### Two-Terminal Mode - Gazebo (Linux only)

**Terminal 1 - Gazebo:**
```bash
gz sim gazebo/worlds/drone_landing.sdf
```

**Terminal 2 - Bridge + Controllers:**
```bash
python run_gazebo.py --pattern circular --speed 0.3
```

That's it! Only 2 terminals needed.

## Installation

| Platform | Command |
|----------|---------|
| Ubuntu/Debian | `./setup/install_ubuntu.sh` |
| Arch Linux | `./setup/install_arch.sh` |
| macOS | `./setup/install_macos.sh` |
| Windows | `.\setup\install_windows.ps1` |

## Platform Compatibility

| Feature | Ubuntu | Arch | macOS | Windows | WSL2 |
|---------|--------|------|-------|---------|------|
| Standalone | ✅ | ✅ | ✅ | ✅ | ✅ |
| ROS 2 Mode | ✅ | ⚠️ | ❌ | ❌ | ✅ |
| Gazebo | ✅ | ⚠️ | ❌ | ❌ | ✅ |

## Files

| File | Description |
|------|-------------|
| `standalone_simulation.py` | All-in-one (no ROS 2 required) |
| `simulation_host.py` | PyBullet simulator server |
| `run_bridge.py` | **PyBullet bridge + Controllers** |
| `run_gazebo.py` | **Gazebo bridge + Controllers** |
| `config.py` | **Configuration file** (edit to customize) |
| `drone_controller.py` | Drone landing logic (edit this) |
| `rover_controller.py` | Moving landing pad |

## Options

```bash
# Standalone
python standalone_simulation.py --pattern circular --speed 0.3

# ROS 2 mode
python run_bridge.py --pattern circular --speed 0.3 --host <SIMULATOR_IP>

Options:
  --pattern, -p   stationary, linear, circular, square, random
  --speed, -s     Speed in m/s (default: 0.5)
  --amplitude, -a Amplitude in meters (default: 2.0)
  --host, -H      Simulator IP (default: 0.0.0.0)
```

## GPS-Denied Sensors

| Sensor | Data |
|--------|------|
| **IMU** | Orientation, angular velocity |
| **Altimeter** | Altitude, vertical velocity |
| **Velocity** | Estimated horizontal velocity |
| **Camera** | 320x240 downward-facing image |
| **Landing Pad** | Relative position when visible |

## Documentation

| Document | Description |
|----------|-------------|
| [Installation](docs/installation.md) | Platform setup guides + WSL2 |
| [Architecture](docs/architecture.md) | System components |
| [Protocol](docs/protocol.md) | Sensor data formats |
| [Drone Guide](docs/drone_guide.md) | Landing algorithm guide |

## Network Setup (Remote Simulator)

Run simulator on one machine, controllers on another:

**Machine 1 (with display):**
```bash
python simulation_host.py  # Listens on 0.0.0.0:5555
```

**Machine 2 (headless):**
```bash
python run_bridge.py --host 192.168.1.100  # Connect to Machine 1
```