Camera Aruco Tags Dectection

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