RDC_Simulation/docs/drone_guide.md

DroneController Guide

Implement your GPS-denied landing algorithm.

Quick Start

1. Edit drone_controller.py
2. Find calculate_landing_maneuver()
3. Implement your algorithm
4. Test with any simulation mode

Function to Implement

def calculate_landing_maneuver(self, telemetry, rover_telemetry):
    # Your logic here
    return (thrust, pitch, roll, yaw)

Sensors (GPS-Denied)

# Altitude
altitude = telemetry['altimeter']['altitude']
vertical_vel = telemetry['altimeter']['vertical_velocity']

# Velocity
vel_x = telemetry['velocity']['x']
vel_y = telemetry['velocity']['y']

# Landing Pad (may be None!)
landing_pad = telemetry.get('landing_pad')
if landing_pad:
    relative_x = landing_pad['relative_x']
    relative_y = landing_pad['relative_y']

Control Output

Value	Range	Effect
thrust	±1.0	Up/down (positive = up)
pitch	±0.5	Forward/back
roll	±0.5	Left/right
yaw	±0.5	Rotation

Note: In ArduPilot mode, these are scaled to velocities:

• Thrust → Z velocity
• Pitch/Roll → X/Y velocity

Example Algorithm (PD Control)

def calculate_landing_maneuver(self, telemetry, rover_telemetry):
    alt = telemetry.get('altimeter', {})
    altitude = alt.get('altitude', 5.0)
    vert_vel = alt.get('vertical_velocity', 0.0)
    
    # Altitude PD control
    thrust = 0.5 * (target_alt - altitude) - 0.3 * vert_vel
    
    # Horizontal control
    pad = telemetry.get('landing_pad')
    if pad:
        pitch = 0.3 * pad['relative_x']
        roll = 0.3 * pad['relative_y']
    else:
        # Hover
        pitch = 0
        roll = 0
    
    return (thrust, pitch, roll, 0.0)