# 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
source activate.sh
./scripts/run_ardupilot_sim.sh runway
```

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

## World Options

```bash
./scripts/run_ardupilot_sim.sh runway     # Default (outdoor)
./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

### Ubuntu (Native or WSL2)

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

### Windows (via WSL2)

```powershell
# PowerShell as Administrator
wsl --install -d Ubuntu-24.04
# Restart, then in Ubuntu terminal:
./setup/install_ubuntu.sh --with-ardupilot
```

### macOS

```bash
./setup/install_macos.sh
python standalone_simulation.py  # Gazebo not supported
```

See [Installation Guide](docs/installation.md) for detailed platform instructions.

## 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 |

## Environment Setup

Always activate the environment before running:

```bash
source activate.sh
```

This sets up:
- ROS 2 environment
- ArduPilot venv (with empy, pymavlink, etc.)
- Gazebo resource paths
- ArduPilot tools path

## Troubleshooting

**sim_vehicle.py not found:**
```bash
source ~/.ardupilot_env
```

**empy not found:**
```bash
source ~/venv-ardupilot/bin/activate
pip install empy==3.3.4
```

**Gazebo slow (software rendering):**
```bash
glxinfo | grep "OpenGL renderer"
# Should show GPU, not "llvmpipe"
```

## Documentation

- [Installation](docs/installation.md) - Full setup for all platforms + WSL
- [ArduPilot Guide](docs/ardupilot.md) - SITL setup and troubleshooting
- [Drone Controller](docs/drone_guide.md) - Landing algorithm
- [Custom Worlds](docs/gazebo_worlds.md) - Create Gazebo environments
- [Blender Models](docs/blender_models.md) - 3D model workflow
- [Architecture](docs/architecture.md) - System design