85 lines
1.7 KiB
Markdown
85 lines
1.7 KiB
Markdown
# Drone Landing Simulation (GPS-Denied)
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Land a drone on a moving platform using only relative sensors.
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## Quick Start
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### Standalone (1 Terminal)
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```bash
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source activate.sh
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python standalone_simulation.py --pattern circular
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```
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### Gazebo + ROS 2 (2 Terminals)
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**Terminal 1:**
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```bash
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ros2 launch gazebo/launch/drone_landing.launch.py
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```
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**Terminal 2:**
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```bash
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source activate.sh
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python run_gazebo.py --pattern circular
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python camera_viewer.py # View camera
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```
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### ArduPilot GPS-Denied (2 Terminals)
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**Terminal 1:**
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```bash
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./scripts/run_ardupilot_sim.sh camera
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```
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**Terminal 2:**
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```bash
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sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
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# GPS-denied mode:
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param set ARMING_CHECK 0
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mode stabilize
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arm throttle force
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```
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## Installation
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```bash
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./setup/install_ubuntu.sh
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./setup/install_ardupilot.sh # Optional
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source activate.sh
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```
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## Files
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| File | Description |
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|------|-------------|
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| `standalone_simulation.py` | All-in-one simulation |
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| `run_gazebo.py` | Gazebo controllers |
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| `scripts/run_ardupilot_sim.sh` | ArduPilot launcher (auto GPU) |
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| `camera_viewer.py` | Camera feed window |
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| `drone_controller.py` | **Your landing algorithm** |
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| `config.py` | Configuration |
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## Sensors (GPS-Denied)
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| Sensor | Data |
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|--------|------|
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| IMU | Orientation, angular velocity |
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| Altimeter | Altitude, vertical velocity |
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| Camera | Downward image |
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| Landing Pad | Relative position (when visible) |
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## Options
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```bash
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--pattern stationary, linear, circular, square, random
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--speed Speed in m/s (default: 0.5)
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```
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## Docs
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- [Installation](docs/installation.md)
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- [Architecture](docs/architecture.md)
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- [ArduPilot](docs/ardupilot.md)
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- [Gazebo](docs/gazebo.md) |