Camera Aruco Tags Dectection

docs/architecture.md

@@ -66,15 +66,15 @@ Camera → Visual Odometry → Position Estimator → Controller
 #### Control Pipeline
 
 ```
-Mission Planner → UAV Controller → MAVROS → ArduPilot
-                → UGV Controller → cmd_vel
+Search Algorithm → UAV Controller → MAVROS → ArduPilot
+                 → UGV Controller → cmd_vel
 ```
 
 | Node | Function |
 |------|----------|
 | `uav_controller` | GUIDED mode control, auto-arm |
 | `ugv_controller` | Differential drive control |
-| `mission_planner` | Multi-vehicle coordination |
+| `search` | Spiral, lawnmower, Lévy walk algorithms |
 
 #### Safety Pipeline
 
@@ -138,23 +138,25 @@ GPS → Geofence Monitor → Failsafe Handler → Emergency Action
 
 ```
 src/
+├── main.py                      # Entry point
 ├── vision/
-│   ├── visual_odometry.py    # Feature tracking VO
-│   ├── optical_flow.py       # LK optical flow
-│   └── camera_processor.py   # Image processing
+│   ├── object_detector.py       # ArUco marker detection
+│   ├── visual_odometry.py       # Feature tracking VO
+│   ├── optical_flow.py          # LK optical flow
+│   └── camera_processor.py      # Gazebo camera feeds
 ├── localization/
-│   ├── position_estimator.py # Weighted fusion
-│   └── ekf_fusion.py         # EKF fusion
+│   ├── position_estimator.py    # Weighted fusion
+│   └── ekf_fusion.py            # EKF fusion
 ├── navigation/
-│   ├── local_planner.py      # Path planning
-│   └── waypoint_follower.py  # Waypoint tracking
+│   ├── local_planner.py         # Path planning
+│   └── waypoint_follower.py     # Waypoint tracking
 ├── control/
-│   ├── uav_controller.py     # UAV flight control
-│   ├── ugv_controller.py     # UGV drive control
-│   └── mission_planner.py    # Coordination
+│   ├── uav_controller.py        # UAV flight control
+│   ├── ugv_controller.py        # UGV drive control
+│   └── search.py                # Search algorithms
 └── safety/
-    ├── geofence_monitor.py   # GPS boundaries
-    └── failsafe_handler.py   # Emergency handling
+    ├── geofence_monitor.py      # GPS boundaries
+    └── failsafe_handler.py      # Emergency handling
 ```
 
 ## Configuration
@@ -175,3 +177,14 @@ vo_weight: 0.6      # Visual odometry
 optical_flow: 0.3   # Optical flow
 imu: 0.1            # IMU integration
 ```
+
+### Speed Limits
+
+```yaml
+WPNAV_SPEED: 150      # Horizontal speed (cm/s)
+WPNAV_ACCEL: 100      # Horizontal acceleration (cm/s/s)
+WPNAV_SPEED_UP: 100   # Climb speed (cm/s)
+WPNAV_SPEED_DN: 75    # Descent speed (cm/s)
+WPNAV_ACCEL_Z: 75     # Vertical acceleration (cm/s/s)
+LOIT_SPEED: 150       # Loiter speed (cm/s)
+```

docs/setup_guide.md

@@ -127,6 +127,6 @@ bash scripts/uninstall.sh --all
 
 ## Next Steps
 
-1. Run a test simulation: `bash scripts/run_autonomous.sh --mission hover`
+1. Run a test simulation: `bash scripts/run_autonomous.sh --search spiral`
 2. Read the [Usage Guide](usage.md)
 3. Check [Troubleshooting](troubleshooting.md) if issues arise

docs/troubleshooting.md

@@ -56,7 +56,7 @@ bash scripts/kill_simulation.sh
 lsof -i :5760
 
 # Restart simulation
-bash scripts/run_autonomous.sh --mission hover
+bash scripts/run_autonomous.sh --search spiral
 ```
 
 ### MAVROS Connection Failed
@@ -247,7 +247,7 @@ bash scripts/kill_simulation.sh
 sleep 5
 
 # Restart
-bash scripts/run_autonomous.sh --mission hover
+bash scripts/run_autonomous.sh --search spiral
 ```
 
 ### Full Reset
@@ -262,7 +262,7 @@ pkill -9 -f ros2
 rm -rf ~/.ardupilot/eeprom.bin
 
 # Restart
-bash scripts/run_autonomous.sh --mission hover
+bash scripts/run_autonomous.sh --search spiral
 ```
 
 ### Reinstall

docs/usage.md

@@ -2,27 +2,30 @@
 
 ## Running the Simulation
 
-### Option 1: Autonomous Mode (Recommended)
+### Option 1: Autonomous Search (Recommended)
 
-The simplest way to run - the UAV automatically arms, takes off, and flies:
+The UAV automatically arms, takes off, and searches for ArUco markers:
 
 ```bash
 source activate_venv.sh
-bash scripts/run_autonomous.sh --mission hover
+bash scripts/run_autonomous.sh --search spiral
 ```
 
-**Mission types:**
-- `hover` - Take off to 5m, hover 30 seconds, land
-- `square` - Fly a 5m square pattern
-- `circle` - Fly a circular pattern (5m radius)
+**Search algorithms:**
+- `spiral` - Expanding square spiral from current position
+- `lawnmower` - Systematic back-and-forth lane coverage
+- `levy` - Random walk with Lévy-distributed step lengths
 
 **Options:**
 ```bash
 # Software rendering (WSL/no GPU)
-bash scripts/run_autonomous.sh --software-render --mission hover
+bash scripts/run_autonomous.sh --software-render --search spiral
 
-# Custom altitude and duration
-python3 src/autonomous_controller.py --altitude 10 --duration 60 --mission hover
+# Custom altitude
+bash scripts/run_autonomous.sh --search lawnmower --altitude 10
+
+# Run directly
+python3 src/main.py --search spiral --altitude 5
 ```
 
 ### Option 2: Manual Mode (MAVProxy)
@@ -104,30 +107,6 @@ ros2 topic pub /ugv/goal_pose geometry_msgs/PoseStamped \
   "{header: {frame_id: 'odom'}, pose: {position: {x: 5, y: 5, z: 0}}}"
 ```
 
-## Mission Planner
-
-Run coordinated multi-vehicle missions:
-
-```bash
-ros2 run uav_ugv_simulation mission_planner
-```
-
-Send commands:
-```bash
-# Load demo mission
-ros2 topic pub /mission/command std_msgs/String "data: 'load'"
-
-# Start mission
-ros2 topic pub /mission/command std_msgs/String "data: 'start'"
-
-# Pause/Resume
-ros2 topic pub /mission/command std_msgs/String "data: 'pause'"
-ros2 topic pub /mission/command std_msgs/String "data: 'resume'"
-
-# Abort
-ros2 topic pub /mission/command std_msgs/String "data: 'abort'"
-```
-
 ## Stopping the Simulation
 
 ```bash
@@ -141,10 +120,9 @@ bash scripts/kill_simulation.sh
 
 | File | Description |
 |------|-------------|
-| `config/uav_params.yaml` | UAV navigation/vision parameters |
-| `config/ugv_params.yaml` | UGV motion parameters |
-| `config/mavros_params.yaml` | MAVROS connection settings |
-| `config/geofence_params.yaml` | Geofence boundaries |
+| `config/search.yaml` | Search algorithm parameters |
+| `config/uav.yaml` | UAV navigation/vision parameters |
+| `config/ugv.yaml` | UGV motion parameters |
 | `config/ardupilot_gps_denied.parm` | ArduPilot EKF configuration |
 
 ## Next Steps

docs/wsl_setup_guide.md

@@ -93,7 +93,7 @@ bash setup.sh
 
 ```bash
 source activate_venv.sh
-bash scripts/run_autonomous.sh --software-render --mission hover
+bash scripts/run_autonomous.sh --software-render --search spiral
 ```
 
 ## Performance Tips
@@ -178,7 +178,7 @@ cd ~/sim/uav_ugv_simulation
 source activate_venv.sh
 
 # 4. Run with software rendering
-bash scripts/run_autonomous.sh --software-render --mission hover
+bash scripts/run_autonomous.sh --software-render --search spiral
 ```
 
 ## Related