RDC_Simulation/docs/drone_guide.md

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

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

def generate_rover_command(self, qr_data):
    return {'type': 'move', 'x': 0, 'y': 0}

Land Phase

def calculate_landing_maneuver(self, telemetry, rover_telemetry):
    return (thrust, pitch, roll, yaw)

Telemetry

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:

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

Testing

./scripts/run_ardupilot_sim.sh runway
./scripts/run_ardupilot_controller.sh