Controller Update
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docs/usage.md
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docs/usage.md
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# Usage Guide
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How to run and control the simulation.
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## Running the Simulation
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## Starting the Simulation
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### Option 1: Autonomous Mode (Recommended)
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The simplest way to run - the UAV automatically arms, takes off, and flies:
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```bash
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cd ~/simulation
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source activate_venv.sh
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bash scripts/run_autonomous.sh --mission hover
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```
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**Mission types:**
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- `hover` - Take off to 5m, hover 30 seconds, land
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- `square` - Fly a 5m square pattern
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- `circle` - Fly a circular pattern (5m radius)
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**Options:**
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```bash
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# Software rendering (WSL/no GPU)
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bash scripts/run_autonomous.sh --software-render --mission hover
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# Custom altitude and duration
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python3 src/autonomous_controller.py --altitude 10 --duration 60 --mission hover
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```
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### Option 2: Manual Mode (MAVProxy)
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For interactive control via MAVProxy:
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```bash
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bash scripts/run_simulation.sh
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```
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This launches:
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1. Gazebo with the drone model
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2. ArduPilot SITL (flight controller)
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3. MAVProxy console (for commands)
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Wait for EKF initialization messages (~15 seconds):
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```
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EKF3 IMU0 initialised
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EKF3 IMU1 initialised
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AHRS: EKF3 active
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```
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## Simulation Options
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Then type commands:
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```
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mode guided
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arm throttle force
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takeoff 5
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```
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### Option 3: ROS 2 Launch
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For full ROS 2 integration with MAVROS:
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```bash
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# Default (iris_runway world)
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bash scripts/run_simulation.sh
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# Specific world
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bash scripts/run_simulation.sh --world iris_runway
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# Rover instead of copter
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bash scripts/run_simulation.sh --vehicle Rover
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# Software rendering (for WSL or no GPU)
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bash scripts/run_simulation.sh --software-render
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# Show available options
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bash scripts/run_simulation.sh --help
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source /opt/ros/humble/setup.bash
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source activate_venv.sh
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ros2 launch uav_ugv_simulation full_simulation.launch.py
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```
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## Controlling the UAV
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## MAVProxy Commands
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### MAVProxy Console
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| Command | Description |
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|---------|-------------|
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| `mode guided` | Switch to GUIDED mode |
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| `arm throttle force` | Force arm (bypasses checks) |
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| `takeoff 5` | Take off to 5 meters |
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| `guided 10 5 -10` | Go to position (N, E, Down) |
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| `land` | Land at current position |
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| `rtl` | Return to launch |
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| `disarm` | Disarm motors |
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The simulation opens a MAVProxy console. Commands:
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## ROS 2 Topics
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```
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mode guided # Switch to GUIDED mode (required for commands)
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arm throttle # Arm motors
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takeoff 5 # Takeoff to 5 meters altitude
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### UAV Topics
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# Fly to position (North, East, Down in meters)
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guided 10 0 -5 # 10m north, 0m east, 5m altitude
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guided 10 10 -5 # 10m north, 10m east, 5m altitude
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guided 0 0 -5 # Return to origin at 5m altitude
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| Topic | Type | Description |
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|-------|------|-------------|
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| `/uav/mavros/state` | `mavros_msgs/State` | Armed/mode status |
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| `/uav/mavros/local_position/pose` | `PoseStamped` | Current position |
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| `/uav/visual_odometry/pose` | `PoseStamped` | VO position estimate |
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| `/uav/setpoint_position` | `PoseStamped` | Target position |
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| `/uav/controller/command` | `String` | Control commands |
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rtl # Return to launch
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land # Land at current position
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disarm # Disarm motors (after landing)
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```
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### UGV Topics
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### ROS 2 Interface
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| Topic | Type | Description |
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|-------|------|-------------|
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| `/ugv/odom` | `Odometry` | Current odometry |
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| `/ugv/goal_pose` | `PoseStamped` | Target position |
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| `/ugv/cmd_vel` | `Twist` | Velocity command |
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If MAVROS is running, control via ROS 2:
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### Control via ROS 2
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```bash
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# Arm
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ros2 service call /mavros/cmd/arming mavros_msgs/srv/CommandBool "{value: true}"
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# Send command to UAV
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ros2 topic pub /uav/controller/command std_msgs/String "data: 'takeoff'"
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# Set GUIDED mode
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ros2 service call /mavros/set_mode mavros_msgs/srv/SetMode "{custom_mode: 'GUIDED'}"
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# Send waypoint
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ros2 topic pub /uav/setpoint_position geometry_msgs/PoseStamped \
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"{header: {frame_id: 'odom'}, pose: {position: {x: 10, y: 5, z: 5}}}"
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# Takeoff
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ros2 service call /mavros/cmd/takeoff mavros_msgs/srv/CommandTOL "{altitude: 5}"
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# Fly to position (local frame, meters)
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ros2 topic pub /mavros/setpoint_position/local geometry_msgs/PoseStamped \
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"{header: {frame_id: 'map'}, pose: {position: {x: 10, y: 5, z: 5}}}"
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# Land
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ros2 service call /mavros/cmd/land mavros_msgs/srv/CommandTOL "{}"
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# Send UGV goal
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ros2 topic pub /ugv/goal_pose geometry_msgs/PoseStamped \
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"{header: {frame_id: 'odom'}, pose: {position: {x: 5, y: 5, z: 0}}}"
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```
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### Monitoring
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## Mission Planner
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Run coordinated multi-vehicle missions:
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```bash
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# List topics
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ros2 topic list
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# View position
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ros2 topic echo /mavros/local_position/pose
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# View velocity
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ros2 topic echo /mavros/local_position/velocity_local
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# View IMU
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ros2 topic echo /mavros/imu/data
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ros2 run uav_ugv_simulation mission_planner
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```
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## Flight Modes
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Send commands:
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```bash
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# Load demo mission
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ros2 topic pub /mission/command std_msgs/String "data: 'load'"
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| Mode | Description |
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|------|-------------|
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| STABILIZE | Manual control with attitude stabilization |
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| ALT_HOLD | Maintain altitude, manual position |
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| LOITER | Hold position and altitude |
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| GUIDED | Accept position commands |
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| AUTO | Follow pre-planned mission |
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| RTL | Return to launch point |
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| LAND | Controlled descent and landing |
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# Start mission
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ros2 topic pub /mission/command std_msgs/String "data: 'start'"
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# Pause/Resume
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ros2 topic pub /mission/command std_msgs/String "data: 'pause'"
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ros2 topic pub /mission/command std_msgs/String "data: 'resume'"
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# Abort
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ros2 topic pub /mission/command std_msgs/String "data: 'abort'"
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```
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## Stopping the Simulation
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Press `Ctrl+C` in the terminal running the simulation.
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Or run:
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```bash
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# Kill all processes
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bash scripts/kill_simulation.sh
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# Or press Ctrl+C in the terminal running the simulation
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```
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## Camera Topics
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## Configuration Files
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The UAV has two cameras:
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| File | Description |
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|------|-------------|
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| `config/uav_params.yaml` | UAV navigation/vision parameters |
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| `config/ugv_params.yaml` | UGV motion parameters |
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| `config/mavros_params.yaml` | MAVROS connection settings |
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| `config/geofence_params.yaml` | Geofence boundaries |
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| `config/ardupilot_gps_denied.parm` | ArduPilot EKF configuration |
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```bash
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# Forward camera (visual odometry)
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ros2 topic echo /uav/camera/forward/image_raw
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## Next Steps
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# Downward camera (optical flow)
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ros2 topic echo /uav/camera/downward/image_raw
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```
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## GPS-Denied Navigation
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All position commands use local coordinates (meters from takeoff point):
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- X: North
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- Y: East
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- Z: Up (or Down for NED frame)
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GPS is only used for geofencing boundaries, not for navigation.
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- [Architecture Overview](architecture.md)
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- [GPS-Denied Navigation](gps_denied_navigation.md)
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- [Troubleshooting](troubleshooting.md)
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