From 201e357ba5b291298f8995f3c909e66545aeb261 Mon Sep 17 00:00:00 2001
From: yuzhiliu8 <yuzhiliu8@gmail.com>
Date: Mon, 27 Apr 2026 21:28:26 -0400
Subject: [PATCH 1/9] half working docs

---
 .github/workflows/docs.yml | 16 +++++++++++
 .gitignore                 |  1 +
 docs/gen_pages.py          | 56 ++++++++++++++++++++++++++++++++++++++
 properdocs.yml             | 31 +++++++++++++++++++++
 4 files changed, 104 insertions(+)
 create mode 100644 .github/workflows/docs.yml
 create mode 100644 docs/gen_pages.py
 create mode 100644 properdocs.yml

diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
new file mode 100644
index 00000000..d7c45c74
--- /dev/null
+++ b/.github/workflows/docs.yml
@@ -0,0 +1,16 @@
+name: Deploy Docs
+
+on:
+  push:
+    branches: [main]
+
+jobs:
+  deploy:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.10"
+      - run: pip install "mkdocs<2.0" mkdocs-material mkdocstrings[python] mkdocs-gen-files mkdocs-literate-nav
+      - run: mkdocs gh-deploy --force
diff --git a/.gitignore b/.gitignore
index 4a611b08..ea478ae1 100644
--- a/.gitignore
+++ b/.gitignore
@@ -39,3 +39,4 @@ crash course/data/MNIST/raw/*
 
 node_modules
 *venv
+.claude
diff --git a/docs/gen_pages.py b/docs/gen_pages.py
new file mode 100644
index 00000000..f381f422
--- /dev/null
+++ b/docs/gen_pages.py
@@ -0,0 +1,56 @@
+from pathlib import Path
+import mkdocs_gen_files
+
+SRC_ROOT = Path("controls/sae_2025_ws/src")
+
+INCLUDED_PACKAGES = {
+    "integration",
+    "uav",
+    "sim",
+    "tools",
+}
+
+SKIP_FILES = {
+    "__init__.py",
+    "setup.py",
+}
+
+# Map of virtual doc path -> source README path (relative to repo root)
+README_PAGES = {
+    "index.md": "README.md",
+    "controls/index.md": "controls/sae_2025_ws/README.md",
+    "controls/uav.md": "controls/sae_2025_ws/src/uav/README.md",
+    "controls/payload.md": "controls/sae_2025_ws/src/payload/README.md",
+    "controls/integration.md": "controls/sae_2025_ws/src/integration/README.md",
+    "controls/sim.md": "controls/sae_2025_ws/src/sim/README.md",
+    "controls/tools.md": "controls/sae_2025_ws/src/tools/README.md",
+    "controls/custom_sim_bridge.md": "controls/sae_2025_ws/src/custom_sim_bridge/README.md",
+    "controls/custom_gz_plugins.md": "controls/sae_2025_ws/src/custom_gz_plugins/README.md",
+    "sim/gazebo_harmonic.md": "sim/sae aero/gazebo harmonic/README.md",
+}
+
+for doc_path, readme in README_PAGES.items():
+    src = Path(readme)
+    if src.exists():
+        with mkdocs_gen_files.open(doc_path, "w") as fd:
+            fd.write(src.read_text())
+        mkdocs_gen_files.set_edit_path(doc_path, src)
+
+for package in INCLUDED_PACKAGES:
+    for path in sorted((SRC_ROOT / package).rglob("*.py")):
+        if path.name in SKIP_FILES:
+            continue
+
+        if not (path.parent / "__init__.py").exists():
+            continue
+
+        module_name = ".".join(
+            path.relative_to(SRC_ROOT).with_suffix("").parts
+        )
+
+        doc_path = Path("API", *module_name.split(".")).with_suffix(".md")
+
+        with mkdocs_gen_files.open(doc_path, "w") as fd:
+            print(f"::: {module_name}", file=fd)
+
+        mkdocs_gen_files.set_edit_path(doc_path, path)
diff --git a/properdocs.yml b/properdocs.yml
new file mode 100644
index 00000000..dccc1bd4
--- /dev/null
+++ b/properdocs.yml
@@ -0,0 +1,31 @@
+site_name: PennAir Monorepo
+repo_url: https://github.com/pennaerial/monorepo
+
+theme:
+  name: material
+
+
+
+nav:
+  - Home: index.md
+  - Controls:
+    - Overview: controls/index.md
+    - UAV: controls/uav.md
+    - Payload: controls/payload.md
+    - Integration: controls/integration.md
+    - Simulation: controls/sim.md
+    - Tools: controls/tools.md
+    - Custom Sim Bridge: controls/custom_sim_bridge.md
+    - Custom Gz Plugins: controls/custom_gz_plugins.md
+
+plugins:
+  - search
+  - mkdocstrings:
+      handlers:
+        python:
+          paths:
+            - controls/sae_2025_ws/src
+  - gen-files:
+      scripts:
+        - docs/gen_pages.py
+  - literate-nav:

From 4c8fdc613e22d4a8106efb0bc30e0419d6668e72 Mon Sep 17 00:00:00 2001
From: yuzhiliu8 <yuzhiliu8@gmail.com>
Date: Tue, 28 Apr 2026 21:43:25 -0400
Subject: [PATCH 2/9] docs python, c++ api reference

---
 .../src/payload/include/payload/motor.hpp     | 17 +++-
 docs/gen_pages.py                             | 56 -------------
 docs/gen_ref_pages.py                         | 82 +++++++++++++++++++
 docs/getting-started.md                       |  3 +
 docs/index.md                                 |  0
 properdocs.yml                                | 43 +++++++---
 6 files changed, 130 insertions(+), 71 deletions(-)
 delete mode 100644 docs/gen_pages.py
 create mode 100644 docs/gen_ref_pages.py
 create mode 100644 docs/getting-started.md
 create mode 100644 docs/index.md

diff --git a/controls/sae_2025_ws/src/payload/include/payload/motor.hpp b/controls/sae_2025_ws/src/payload/include/payload/motor.hpp
index 59d805d5..9c0e9b75 100644
--- a/controls/sae_2025_ws/src/payload/include/payload/motor.hpp
+++ b/controls/sae_2025_ws/src/payload/include/payload/motor.hpp
@@ -5,23 +5,36 @@
 #include <algorithm>
 #include "payload/gpio.hpp"
 
+/// Which side of the vehicle this motor drives.
 enum class MotorType {
-    LEFT,
-    RIGHT
+    LEFT,  ///< Left-side motor
+    RIGHT  ///< Right-side motor
 };
 
+/// Abstract base class for all motor drivers.
 class Motor {
     public:
         virtual ~Motor() = default;
+        /// Set motor speed in [-1, 1] (negative = reverse).
         virtual void set_speed(float speed) = 0;
+        /// Drive forward at the given PWM duty cycle [0, 1].
         virtual void forward(float duty) = 0;
+        /// Drive in reverse at the given PWM duty cycle [0, 1].
         virtual void reverse(float duty) = 0;
+        /// Let the motor coast (no braking force).
         virtual void coast() = 0;
+        /// Apply electronic braking immediately.
         virtual void hard_brake() = 0;
 };
 
+/// Motor driver for the DRV8833 H-bridge IC.
 class DRVMotor : public Motor {
     public:
+        /// @param pi        pigpio instance handle
+        /// @param in1       GPIO pin for IN1
+        /// @param in2       GPIO pin for IN2
+        /// @param frequency PWM frequency in Hz
+        /// @param motor_type Which side this motor drives
         DRVMotor(int pi, int in1, int in2, int frequency, MotorType motor_type);
         void set_speed(float speed) override;
         void forward(float duty) override;
diff --git a/docs/gen_pages.py b/docs/gen_pages.py
deleted file mode 100644
index f381f422..00000000
--- a/docs/gen_pages.py
+++ /dev/null
@@ -1,56 +0,0 @@
-from pathlib import Path
-import mkdocs_gen_files
-
-SRC_ROOT = Path("controls/sae_2025_ws/src")
-
-INCLUDED_PACKAGES = {
-    "integration",
-    "uav",
-    "sim",
-    "tools",
-}
-
-SKIP_FILES = {
-    "__init__.py",
-    "setup.py",
-}
-
-# Map of virtual doc path -> source README path (relative to repo root)
-README_PAGES = {
-    "index.md": "README.md",
-    "controls/index.md": "controls/sae_2025_ws/README.md",
-    "controls/uav.md": "controls/sae_2025_ws/src/uav/README.md",
-    "controls/payload.md": "controls/sae_2025_ws/src/payload/README.md",
-    "controls/integration.md": "controls/sae_2025_ws/src/integration/README.md",
-    "controls/sim.md": "controls/sae_2025_ws/src/sim/README.md",
-    "controls/tools.md": "controls/sae_2025_ws/src/tools/README.md",
-    "controls/custom_sim_bridge.md": "controls/sae_2025_ws/src/custom_sim_bridge/README.md",
-    "controls/custom_gz_plugins.md": "controls/sae_2025_ws/src/custom_gz_plugins/README.md",
-    "sim/gazebo_harmonic.md": "sim/sae aero/gazebo harmonic/README.md",
-}
-
-for doc_path, readme in README_PAGES.items():
-    src = Path(readme)
-    if src.exists():
-        with mkdocs_gen_files.open(doc_path, "w") as fd:
-            fd.write(src.read_text())
-        mkdocs_gen_files.set_edit_path(doc_path, src)
-
-for package in INCLUDED_PACKAGES:
-    for path in sorted((SRC_ROOT / package).rglob("*.py")):
-        if path.name in SKIP_FILES:
-            continue
-
-        if not (path.parent / "__init__.py").exists():
-            continue
-
-        module_name = ".".join(
-            path.relative_to(SRC_ROOT).with_suffix("").parts
-        )
-
-        doc_path = Path("API", *module_name.split(".")).with_suffix(".md")
-
-        with mkdocs_gen_files.open(doc_path, "w") as fd:
-            print(f"::: {module_name}", file=fd)
-
-        mkdocs_gen_files.set_edit_path(doc_path, path)
diff --git a/docs/gen_ref_pages.py b/docs/gen_ref_pages.py
new file mode 100644
index 00000000..edb4e4c2
--- /dev/null
+++ b/docs/gen_ref_pages.py
@@ -0,0 +1,82 @@
+"""Generate the code reference pages."""
+
+from pathlib import Path
+import mkdocs_gen_files
+
+root = Path(__file__).resolve().parent.parent
+src = root / "controls" / "sae_2025_ws" / "src"
+
+# -----------------------------
+# Python package roots (REAL import roots)
+# -----------------------------
+PYTHON_PACKAGE_MODULE_ROOTS = {
+    src / "sim" / "sim",
+    src / "uav" / "uav",
+    src / "udp_bridge" / "udp_bridge",
+    src / "tools",
+}
+
+# -----------------------------
+# Skip ROS/non-Python API dirs
+# -----------------------------
+PY_PKG_SKIP_DIRS = {
+    "launch",
+    "config",
+    "urdf",
+    "meshes",
+    "worlds",
+    "models"
+}
+
+SKIP_FILES = {
+    "setup",
+}
+
+nav = mkdocs_gen_files.Nav()
+
+for path in sorted(src.rglob("*.py")):
+
+    valid_module = False
+    for pkg_module in PYTHON_PACKAGE_MODULE_ROOTS:
+        if str(path).startswith(str(pkg_module)):
+            valid_module = True
+
+    if not valid_module:
+        continue
+
+    # -----------------------------
+    # Convert to module path relative to Python package root
+    # -----------------------------
+    module_path = path.relative_to(src).with_suffix("")
+    parts = list(module_path.parts)
+
+    if not parts:
+        continue
+
+    if any(part in PY_PKG_SKIP_DIRS for part in parts):
+        continue
+
+    if parts[-1] in SKIP_FILES:
+        continue
+
+    doc_path = module_path.with_suffix(".md")
+    full_doc_path = Path("reference", doc_path)
+
+    if parts[-1] == "__init__":
+        parts = parts[:-1]
+        doc_path = doc_path.with_name("index.md")
+        full_doc_path = full_doc_path.with_name("index.md")
+    elif parts[-1] == "__main__":
+        continue
+
+    nav[parts] = doc_path.as_posix()
+
+    with mkdocs_gen_files.open(full_doc_path, "w") as fd:
+        identifier = ".".join(parts)
+        print(f"::: {identifier}", file=fd)
+
+    # print(full_doc_path)
+    mkdocs_gen_files.set_edit_path(full_doc_path, path.relative_to(root))
+
+with mkdocs_gen_files.open("reference/SUMMARY.md", "w") as nav_file:
+    nav_file.writelines(nav.build_literate_nav())
diff --git a/docs/getting-started.md b/docs/getting-started.md
new file mode 100644
index 00000000..d5eca4a7
--- /dev/null
+++ b/docs/getting-started.md
@@ -0,0 +1,3 @@
+# Getting Started
+
+TODO
diff --git a/docs/index.md b/docs/index.md
new file mode 100644
index 00000000..e69de29b
diff --git a/properdocs.yml b/properdocs.yml
index dccc1bd4..00210a54 100644
--- a/properdocs.yml
+++ b/properdocs.yml
@@ -3,29 +3,46 @@ repo_url: https://github.com/pennaerial/monorepo
 
 theme:
   name: material
-
+  logo: https://www.pennaerial.com/wp-content/uploads/2023/08/b-removebg-preview-150x150.png
+  icon:
+    repo: fontawesome/solid/trash
+  features:
+    - navigation.tabs
 
 
 nav:
   - Home: index.md
-  - Controls:
-    - Overview: controls/index.md
-    - UAV: controls/uav.md
-    - Payload: controls/payload.md
-    - Integration: controls/integration.md
-    - Simulation: controls/sim.md
-    - Tools: controls/tools.md
-    - Custom Sim Bridge: controls/custom_sim_bridge.md
-    - Custom Gz Plugins: controls/custom_gz_plugins.md
+  - Getting Started: getting-started.md
+  - API Reference:
+    - Python: reference/
+    - C++:
+      - payload: payload/annotated.md
+      - custom_sim_bridge: custom_sim_bridge/annotated.md
 
 plugins:
   - search
+  - gen-files:
+      scripts:
+        - docs/gen_ref_pages.py
   - mkdocstrings:
       handlers:
         python:
           paths:
             - controls/sae_2025_ws/src
-  - gen-files:
-      scripts:
-        - docs/gen_pages.py
   - literate-nav:
+      nav_file: SUMMARY.md
+  - section-index
+  - mkdoxy:
+      projects:
+        payload:
+          src-dirs: controls/sae_2025_ws/src/payload/include controls/sae_2025_ws/src/payload/src
+          full-doc: true
+          doxy-cfg:
+            OUTPUT_LANGUAGE: English
+            EXTRACT_ALL: YES
+        custom_sim_bridge:
+          src-dirs: controls/sae_2025_ws/src/custom_sim_bridge/include controls/sae_2025_ws/src/custom_sim_bridge/src
+          full-doc: true
+          doxy-cfg:
+            OUTPUT_LANGUAGE: English
+            EXTRACT_ALL: YES

From e6e50f6e45842c93439bb6858ffc24c1bc777c13 Mon Sep 17 00:00:00 2001
From: yuzhiliu8 <yuzhiliu8@gmail.com>
Date: Tue, 28 Apr 2026 23:00:19 -0400
Subject: [PATCH 3/9] general structure, github action

---
 .github/workflows/docs.yml | 35 ++++++++++++++++++++++++++++++++---
 .gitignore                 |  1 +
 docs/concepts.md           |  4 ++++
 docs/gen_ref_pages.py      | 13 +++++++++----
 properdocs.yml             |  1 +
 5 files changed, 47 insertions(+), 7 deletions(-)
 create mode 100644 docs/concepts.md

diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index d7c45c74..0fe620b2 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -1,16 +1,45 @@
-name: Deploy Docs
+name: Docs
 
 on:
   push:
     branches: [main]
+  pull_request:
 
 jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.10"
+      - run: |
+          pip install \
+            properdocs \
+            mkdocs-material \
+            mkdocstrings[python] \
+            mkdocs-gen-files \
+            mkdocs-literate-nav \
+            mkdocs-section-index \
+            mkdoxy
+      - run: properdocs build
+
   deploy:
+    if: github.ref == 'refs/heads/main'
+    needs: build
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
       - uses: actions/setup-python@v5
         with:
           python-version: "3.10"
-      - run: pip install "mkdocs<2.0" mkdocs-material mkdocstrings[python] mkdocs-gen-files mkdocs-literate-nav
-      - run: mkdocs gh-deploy --force
+      - run: |
+          pip install \
+            properdocs \
+            mkdocs-material \
+            mkdocstrings[python] \
+            mkdocs-gen-files \
+            mkdocs-literate-nav \
+            mkdocs-section-index \
+            mkdoxy
+      - run: properdocs gh-deploy --force
diff --git a/.gitignore b/.gitignore
index ea478ae1..93b88332 100644
--- a/.gitignore
+++ b/.gitignore
@@ -40,3 +40,4 @@ crash course/data/MNIST/raw/*
 node_modules
 *venv
 .claude
+site/
diff --git a/docs/concepts.md b/docs/concepts.md
new file mode 100644
index 00000000..43ce2c89
--- /dev/null
+++ b/docs/concepts.md
@@ -0,0 +1,4 @@
+# Concepts
+
+
+TODO
diff --git a/docs/gen_ref_pages.py b/docs/gen_ref_pages.py
index edb4e4c2..c8421b0b 100644
--- a/docs/gen_ref_pages.py
+++ b/docs/gen_ref_pages.py
@@ -1,4 +1,7 @@
-"""Generate the code reference pages."""
+"""
+Generate the code reference pages.
+Referenced this guide: https://mkdocstrings.github.io/recipes/
+"""
 
 from pathlib import Path
 import mkdocs_gen_files
@@ -36,6 +39,7 @@
 
 for path in sorted(src.rglob("*.py")):
 
+    # restict to only listed python packages
     valid_module = False
     for pkg_module in PYTHON_PACKAGE_MODULE_ROOTS:
         if str(path).startswith(str(pkg_module)):
@@ -44,15 +48,16 @@
     if not valid_module:
         continue
 
-    # -----------------------------
-    # Convert to module path relative to Python package root
-    # -----------------------------
+    # ex: uav/uav/modes/Mode
     module_path = path.relative_to(src).with_suffix("")
     parts = list(module_path.parts)
 
     if not parts:
         continue
 
+    # skip irrelevant directories within package.
+    # only relevant code in ros packages are the inner dir, like uav/uav or sim/sim
+    # launch files can be hand documented
     if any(part in PY_PKG_SKIP_DIRS for part in parts):
         continue
 
diff --git a/properdocs.yml b/properdocs.yml
index 00210a54..930994c6 100644
--- a/properdocs.yml
+++ b/properdocs.yml
@@ -13,6 +13,7 @@ theme:
 nav:
   - Home: index.md
   - Getting Started: getting-started.md
+  - Concepts: concepts.md
   - API Reference:
     - Python: reference/
     - C++:

From 6fceb67425a4bb7eada995a16ee7101a2c8efb98 Mon Sep 17 00:00:00 2001
From: yuzhiliu8 <yuzhiliu8@gmail.com>
Date: Thu, 30 Apr 2026 23:35:11 -0400
Subject: [PATCH 4/9] compiling ros package READMEs and additional
 documentation in gen_pkg_pages.py

---
 docs/assets/pennair-preview-150x150.png | Bin 0 -> 11320 bytes
 docs/doc_utils.py                       |  81 ++++++++++++++++++++++++
 docs/gen_pkg_pages.py                   |  52 +++++++++++++++
 docs/gen_ref_pages.py                   |  19 ++++--
 properdocs.yml                          |  12 +++-
 5 files changed, 156 insertions(+), 8 deletions(-)
 create mode 100644 docs/assets/pennair-preview-150x150.png
 create mode 100644 docs/doc_utils.py
 create mode 100644 docs/gen_pkg_pages.py

diff --git a/docs/assets/pennair-preview-150x150.png b/docs/assets/pennair-preview-150x150.png
new file mode 100644
index 0000000000000000000000000000000000000000..56c1f9d579f5fed6ea421562515e0a25211d33f8
GIT binary patch
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HcmV?d00001

diff --git a/docs/doc_utils.py b/docs/doc_utils.py
new file mode 100644
index 00000000..d5097af2
--- /dev/null
+++ b/docs/doc_utils.py
@@ -0,0 +1,81 @@
+"""Shared utilities for mkdocs-gen-files scripts."""
+
+from pathlib import Path
+import xml.etree.ElementTree as ET
+
+REPO_ROOT = Path(__file__).resolve().parent.parent
+GITMODULES = REPO_ROOT / ".gitmodules"
+
+
+def submodule_dirs() -> set[Path]:
+    """Return absolute paths of all submodules declared in the repo's .gitmodules."""
+    if not GITMODULES.exists():
+        return set()
+    paths: set[Path] = set()
+    for line in GITMODULES.read_text().splitlines():
+        line = line.strip()
+        if line.startswith("path ="):
+            rel = line.split("=", 1)[1].strip()
+            paths.add(REPO_ROOT / rel)
+    return paths
+
+
+def find_ros_packages(
+    src: Path, ament_type="all", exclude_submodules=True
+) -> set[Path]:
+    """Return the set of ROS package directories under *src*.
+
+    A ROS package is any directory that contains a ``package.xml`` file.
+    Only direct children of *src* are searched so that vendored/nested
+    package trees (e.g. ``ros_gz/ros_gz_sim/``) are excluded.
+
+    Args:
+        src: The source directory to search in.
+        ament_type: Filter by build type — ``"all"``, ``"python"``
+            (``ament_python``), or ``"cmake"`` (``ament_cmake``).
+        exclude_submodules: When ``True`` (default), directories that are
+            git submodules are excluded.
+    """
+    if ament_type not in ("all", "python", "cmake"):
+        raise ValueError("ament_type must be 'all', 'python', or 'cmake'")
+
+    src = src.resolve()
+    pkg_dirs = {pkg_xml.parent for pkg_xml in src.glob("*/package.xml")}
+
+    if exclude_submodules:
+        pkg_dirs -= submodule_dirs()
+
+    if ament_type == "all":
+        return pkg_dirs
+
+    target_build_type = "ament_python" if ament_type == "python" else "ament_cmake"
+
+    return {
+        pkg_dir
+        for pkg_dir in pkg_dirs
+        if ET.parse(pkg_dir / "package.xml").getroot().findtext("export/build_type")
+        == target_build_type
+    }
+
+
+if __name__ == "__main__":
+    print("submodules:")
+    for smd in submodule_dirs():
+        print(smd)
+
+    print("\nALL:")
+    for pkg in find_ros_packages(Path("controls/sae_2025_ws/src")):
+        print(pkg)
+
+    print("\nPYTHON:")
+    for pkg in find_ros_packages(Path("controls/sae_2025_ws/src"), ament_type="python"):
+        print(pkg)
+
+    print("\nCMAKE:")
+    for pkg in find_ros_packages(Path("controls/sae_2025_ws/src"), ament_type="cmake"):
+        print(pkg)
+
+
+
+
+
diff --git a/docs/gen_pkg_pages.py b/docs/gen_pkg_pages.py
new file mode 100644
index 00000000..6cd7ef7f
--- /dev/null
+++ b/docs/gen_pkg_pages.py
@@ -0,0 +1,52 @@
+"""Generate one documentation page per ROS package."""
+
+import sys
+from pathlib import Path
+
+sys.path.insert(0, str(Path(__file__).resolve().parent))
+
+import mkdocs_gen_files
+from doc_utils import find_ros_packages, REPO_ROOT
+
+src = REPO_ROOT / "controls" / "sae_2025_ws" / "src"
+
+nav = mkdocs_gen_files.Nav()
+
+for pkg_dir in sorted(find_ros_packages(src, ament_type="all"), key=lambda p: p.name):
+    pkg_name = pkg_dir.name
+    readme = pkg_dir / "README.md"
+    docs_dir = pkg_dir / "docs"
+
+    supplementary = sorted(
+        f for f in docs_dir.iterdir() if f.is_file() and f.suffix == ".md"
+    ) if docs_dir.is_dir() else []
+
+    if readme.exists():
+        dest = Path("packages", pkg_name, "README.md")
+        with mkdocs_gen_files.open(dest, "w") as fd:
+            fd.write(readme.read_text())
+        mkdocs_gen_files.set_edit_path(dest, readme.relative_to(REPO_ROOT))
+        nav[(pkg_name,)] = Path(pkg_name, "README.md").as_posix()
+    elif supplementary:
+        # first supplementary file acts as the section index if no README
+        first = supplementary.pop(0)
+        dest = Path("packages", pkg_name, "docs", first.name)
+        with mkdocs_gen_files.open(dest, "w") as fd:
+            fd.write(first.read_text())
+        mkdocs_gen_files.set_edit_path(dest, first.relative_to(REPO_ROOT))
+        nav[(pkg_name,)] = Path(pkg_name, "docs", first.name).as_posix()
+    else:
+        dest = Path("packages", pkg_name, "README.md")
+        with mkdocs_gen_files.open(dest, "w") as fd:
+            fd.write(f"# `{pkg_name}`\n\n*No documentation yet.*\n")
+        nav[(pkg_name,)] = Path(pkg_name, "README.md").as_posix()
+
+    for doc_file in supplementary:
+        dest = Path("packages", pkg_name, "docs", doc_file.name)
+        with mkdocs_gen_files.open(dest, "w") as fd:
+            fd.write(doc_file.read_text())
+        mkdocs_gen_files.set_edit_path(dest, doc_file.relative_to(REPO_ROOT))
+        nav[(pkg_name, doc_file.stem)] = Path(pkg_name, "docs", doc_file.name).as_posix()
+
+with mkdocs_gen_files.open("packages/SUMMARY.md", "w") as nav_file:
+    nav_file.writelines(nav.build_literate_nav())
diff --git a/docs/gen_ref_pages.py b/docs/gen_ref_pages.py
index c8421b0b..905046a7 100644
--- a/docs/gen_ref_pages.py
+++ b/docs/gen_ref_pages.py
@@ -3,20 +3,25 @@
 Referenced this guide: https://mkdocstrings.github.io/recipes/
 """
 
+import sys
 from pathlib import Path
+
+sys.path.insert(0, str(Path(__file__).resolve().parent))
+
 import mkdocs_gen_files
+from doc_utils import find_ros_packages
 
 root = Path(__file__).resolve().parent.parent
 src = root / "controls" / "sae_2025_ws" / "src"
 
-# -----------------------------
-# Python package roots (REAL import roots)
-# -----------------------------
+# Auto-detect Python module roots.
+# A root is any dir with __init__.py whose parent is a direct-child ROS package
+# of src.
 PYTHON_PACKAGE_MODULE_ROOTS = {
-    src / "sim" / "sim",
-    src / "uav" / "uav",
-    src / "udp_bridge" / "udp_bridge",
-    src / "tools",
+    child
+    for pkg_dir in find_ros_packages(src, ament_type="python")
+    for child in pkg_dir.iterdir()
+    if child.is_dir() and (child / "__init__.py").exists()
 }
 
 # -----------------------------
diff --git a/properdocs.yml b/properdocs.yml
index 930994c6..8faa71f8 100644
--- a/properdocs.yml
+++ b/properdocs.yml
@@ -3,7 +3,8 @@ repo_url: https://github.com/pennaerial/monorepo
 
 theme:
   name: material
-  logo: https://www.pennaerial.com/wp-content/uploads/2023/08/b-removebg-preview-150x150.png
+  logo: assets/pennair-preview-150x150.png
+  favicon: assets/pennair-preview-150x150.png
   icon:
     repo: fontawesome/solid/trash
   features:
@@ -13,18 +14,21 @@ theme:
 nav:
   - Home: index.md
   - Getting Started: getting-started.md
+  - Packages: packages/
   - Concepts: concepts.md
   - API Reference:
     - Python: reference/
     - C++:
       - payload: payload/annotated.md
       - custom_sim_bridge: custom_sim_bridge/annotated.md
+      - custom_gz_plugins: custom_gz_plugins/annotated.md
 
 plugins:
   - search
   - gen-files:
       scripts:
         - docs/gen_ref_pages.py
+        - docs/gen_pkg_pages.py
   - mkdocstrings:
       handlers:
         python:
@@ -47,3 +51,9 @@ plugins:
           doxy-cfg:
             OUTPUT_LANGUAGE: English
             EXTRACT_ALL: YES
+        custom_gz_plugins:
+          src-dirs: controls/sae_2025_ws/src/custom_gz_plugins/src
+          full-doc: true
+          doxy-cfg:
+            OUTPUT_LANGUAGE: English
+            EXTRACT_ALL: YES

From 4e0e7b95b5b6878ab7b060ce2f937bb9acce5070 Mon Sep 17 00:00:00 2001
From: yuzhiliu8 <yuzhiliu8@gmail.com>
Date: Thu, 30 Apr 2026 23:50:22 -0400
Subject: [PATCH 5/9] wrote homepage, updated some readmes

---
 .../sae_2025_ws/src/custom_gz_msgs/README.md  |  2 +-
 .../src/custom_gz_plugins/README.md           |  2 +-
 .../src/custom_sim_bridge/README.md           |  2 +-
 controls/sae_2025_ws/src/sim/README.md        |  2 +
 controls/sae_2025_ws/src/tools/README.md      |  2 +-
 docs/docs-setup.md                            | 64 +++++++++++++++++++
 docs/gen_pkg_pages.py                         | 39 ++++++++++-
 docs/index.md                                 | 11 ++++
 properdocs.yml                                |  3 +-
 9 files changed, 120 insertions(+), 7 deletions(-)
 create mode 100644 docs/docs-setup.md

diff --git a/controls/sae_2025_ws/src/custom_gz_msgs/README.md b/controls/sae_2025_ws/src/custom_gz_msgs/README.md
index fc20eb5f..469aa3ba 100644
--- a/controls/sae_2025_ws/src/custom_gz_msgs/README.md
+++ b/controls/sae_2025_ws/src/custom_gz_msgs/README.md
@@ -1,6 +1,6 @@
 # custom_gz_msgs
 
-Custom Gazebo Harmonic protobuf message definitions for the SAE 2025 simulation environment.
+Custom Gazebo Harmonic protobuf message definitions for the simulation environment.
 
 For general information on creating Gazebo messages, see the [official guide](https://gazebosim.org/api/msgs/10/index.html).
 
diff --git a/controls/sae_2025_ws/src/custom_gz_plugins/README.md b/controls/sae_2025_ws/src/custom_gz_plugins/README.md
index 40782cf5..746eeda0 100644
--- a/controls/sae_2025_ws/src/custom_gz_plugins/README.md
+++ b/controls/sae_2025_ws/src/custom_gz_plugins/README.md
@@ -1,6 +1,6 @@
 # custom_gz_plugins
 
-Custom Gazebo Harmonic system plugins for the SAE 2025 simulation environment.
+Custom Gazebo Harmonic system plugins for simulation.
 
 For general information on creating Gazebo system plugins, see the [official guide](https://gazebosim.org/api/sim/8/createsystemplugins.html).
 
diff --git a/controls/sae_2025_ws/src/custom_sim_bridge/README.md b/controls/sae_2025_ws/src/custom_sim_bridge/README.md
index bcdc5375..243ea9fb 100644
--- a/controls/sae_2025_ws/src/custom_sim_bridge/README.md
+++ b/controls/sae_2025_ws/src/custom_sim_bridge/README.md
@@ -1,6 +1,6 @@
 # custom_sim_bridge
 
-Pluginlib-based ROS 2 bridge plugins that translate between ROS 2 services and Gazebo Harmonic transport for the SAE 2025 simulation environment.
+Pluginlib-based ROS 2 bridge plugins that translate between ROS 2 services and Gazebo Harmonic transport for simulation.
 
 For general information on pluginlib, see the [official guide](https://docs.ros.org/en/rolling/Tutorials/Beginner-Client-Libraries/Pluginlib.html).
 
diff --git a/controls/sae_2025_ws/src/sim/README.md b/controls/sae_2025_ws/src/sim/README.md
index 63f124d0..e9708d2a 100644
--- a/controls/sae_2025_ws/src/sim/README.md
+++ b/controls/sae_2025_ws/src/sim/README.md
@@ -1,5 +1,7 @@
 # `sim` Package
 
+Gazebo Harmonic simulation backend — world generation, multi-vehicle spawning, hoop-course scoring, and stage configuration.
+
 ## Extra Dependency
 ```bash
 sudo apt install ros-humble-tf-transformations
diff --git a/controls/sae_2025_ws/src/tools/README.md b/controls/sae_2025_ws/src/tools/README.md
index bcf283c4..a77fc31e 100644
--- a/controls/sae_2025_ws/src/tools/README.md
+++ b/controls/sae_2025_ws/src/tools/README.md
@@ -1,6 +1,6 @@
 # tools
 
-Developer tools for the SAE 2025 workspace.
+Various developer tools
 
 ---
 
diff --git a/docs/docs-setup.md b/docs/docs-setup.md
new file mode 100644
index 00000000..94185f03
--- /dev/null
+++ b/docs/docs-setup.md
@@ -0,0 +1,64 @@
+# Documentation Setup
+
+Docs are built with [MkDocs](https://www.mkdocs.org/) via the `properdocs` wrapper. The config is `properdocs.yml` at the repo root.
+
+## Serving locally
+
+```bash
+properdocs serve
+```
+
+## Plugins
+
+| Plugin | Role |
+|---|---|
+| `mkdocs-gen-files` | Runs Python scripts at build time to generate virtual doc pages |
+| `mkdocstrings` | Renders Python API reference from docstrings |
+| `mkdoxy` | Renders C++ API reference via Doxygen |
+| `literate-nav` | Reads `SUMMARY.md` files to build nav trees for generated sections |
+| `section-index` | Makes section headers in the nav clickable (links to their `index.md` / `README.md`) |
+
+## Auto-generated sections
+
+Two scripts in `docs/` run at build time via `mkdocs-gen-files`:
+
+### `docs/gen_ref_pages.py` — Python API reference
+
+Finds every ament_python ROS package under `controls/sae_2025_ws/src/`, then for each one finds direct child directories with an `__init__.py` (the importable module roots). Walks each module and generates a `reference/<module>/<file>.md` page with a `:::` mkdocstrings directive. Output nav is written to `reference/SUMMARY.md`.
+
+### `docs/gen_pkg_pages.py` — Package docs
+
+Finds every ROS package (all build types, submodules excluded). For each:
+
+- Copies `README.md` from the package root → `packages/<name>/README.md` (section index)
+- Copies `docs/*.md` → `packages/<name>/docs/*.md` (supplementary pages, preserving the `docs/` prefix so relative links in the README stay valid)
+- Generates a stub if neither exists
+
+Also generates `packages/index.md` as a landing page with a one-line description pulled from the first paragraph of each package's README. Output nav is written to `packages/SUMMARY.md`.
+
+### `docs/doc_utils.py` — Shared helpers
+
+`find_ros_packages(src, ament_type, exclude_submodules)` — detects ROS packages by finding `package.xml` files one level deep under `src/`. Git submodules are excluded by parsing `.gitmodules`. The `ament_type` parameter filters to `"python"`, `"cmake"`, or `"all"`.
+
+## Adding docs to a package
+
+1. Add a `README.md` at the package root for the overview (this becomes the section landing page).
+2. Add supplementary pages to `<package>/docs/*.md` — link to them from the README as `docs/quickstart.md` etc.
+3. No config changes needed — packages are auto-detected.
+
+## Adding C++ API docs (Doxygen)
+
+Add a new project under `mkdoxy.projects` in `properdocs.yml`:
+
+```yaml
+- mkdoxy:
+    projects:
+      my_package:
+        src-dirs: controls/sae_2025_ws/src/my_package/include controls/sae_2025_ws/src/my_package/src
+        full-doc: true
+        doxy-cfg:
+          OUTPUT_LANGUAGE: English
+          EXTRACT_ALL: YES
+```
+
+Then add a nav entry under `API Reference > C++`.
diff --git a/docs/gen_pkg_pages.py b/docs/gen_pkg_pages.py
index 6cd7ef7f..10e3c2c2 100644
--- a/docs/gen_pkg_pages.py
+++ b/docs/gen_pkg_pages.py
@@ -10,9 +10,45 @@
 
 src = REPO_ROOT / "controls" / "sae_2025_ws" / "src"
 
+
+def _first_paragraph(readme: Path) -> str:
+    """Return the first non-heading paragraph from a README, or empty string."""
+    lines = readme.read_text().splitlines()
+    paragraph: list[str] = []
+    in_paragraph = False
+    for line in lines:
+        if line.startswith("#"):
+            if in_paragraph:
+                break
+            continue
+        if line.strip() == "":
+            if in_paragraph:
+                break
+            continue
+        paragraph.append(line.strip())
+        in_paragraph = True
+    return " ".join(paragraph)
+
+
 nav = mkdocs_gen_files.Nav()
 
-for pkg_dir in sorted(find_ros_packages(src, ament_type="all"), key=lambda p: p.name):
+# --- landing page ---
+packages = sorted(find_ros_packages(src, ament_type="all"), key=lambda p: p.name)
+
+with mkdocs_gen_files.open("packages/index.md", "w") as fd:
+    fd.write("# Packages\n\n")
+    fd.write("| Package | Description |\n")
+    fd.write("|---|---|\n")
+    for pkg_dir in packages:
+        pkg_name = pkg_dir.name
+        readme = pkg_dir / "README.md"
+        desc = _first_paragraph(readme) if readme.exists() else ""
+        fd.write(f"| [`{pkg_name}`]({pkg_name}/README.md) | {desc} |\n")
+
+nav[()] = "index.md"
+
+# --- per-package pages ---
+for pkg_dir in packages:
     pkg_name = pkg_dir.name
     readme = pkg_dir / "README.md"
     docs_dir = pkg_dir / "docs"
@@ -28,7 +64,6 @@
         mkdocs_gen_files.set_edit_path(dest, readme.relative_to(REPO_ROOT))
         nav[(pkg_name,)] = Path(pkg_name, "README.md").as_posix()
     elif supplementary:
-        # first supplementary file acts as the section index if no README
         first = supplementary.pop(0)
         dest = Path("packages", pkg_name, "docs", first.name)
         with mkdocs_gen_files.open(dest, "w") as fd:
diff --git a/docs/index.md b/docs/index.md
index e69de29b..5813c4ad 100644
--- a/docs/index.md
+++ b/docs/index.md
@@ -0,0 +1,11 @@
+# PennAir Monorepo
+
+ROS 2 / Gazebo Harmonic autonomy stack for Penn Aerial Robotics multi-UAV missions — mission runtime, hardware control, simulation, and ground-station tooling.
+
+## Quick Links
+
+- [Getting Started](getting-started.md)
+- [Packages](packages/)
+- [UAV Quickstart](packages/uav/docs/quickstart.md)
+- [API Reference — Python](reference/)
+- [API Reference — C++](payload/annotated.md)
diff --git a/properdocs.yml b/properdocs.yml
index 8faa71f8..e36dbfc8 100644
--- a/properdocs.yml
+++ b/properdocs.yml
@@ -14,14 +14,15 @@ theme:
 nav:
   - Home: index.md
   - Getting Started: getting-started.md
-  - Packages: packages/
   - Concepts: concepts.md
+  - Packages: packages/
   - API Reference:
     - Python: reference/
     - C++:
       - payload: payload/annotated.md
       - custom_sim_bridge: custom_sim_bridge/annotated.md
       - custom_gz_plugins: custom_gz_plugins/annotated.md
+  - Docs Setup: docs-setup.md
 
 plugins:
   - search

From 2a13d233a7a4bbc592c643ca0771691480fc29da Mon Sep 17 00:00:00 2001
From: yuzhiliu8 <yuzhiliu8@gmail.com>
Date: Thu, 30 Apr 2026 23:51:23 -0400
Subject: [PATCH 6/9] ruff

---
 .../payload/PayloadWaitForDriveOutMode.py     | 24 ++++++++++++++-----
 docs/doc_utils.py                             |  5 ----
 docs/gen_pkg_pages.py                         | 12 ++++++----
 docs/gen_ref_pages.py                         | 10 +-------
 4 files changed, 27 insertions(+), 24 deletions(-)

diff --git a/controls/sae_2025_ws/src/uav/uav/modes/payload/PayloadWaitForDriveOutMode.py b/controls/sae_2025_ws/src/uav/uav/modes/payload/PayloadWaitForDriveOutMode.py
index 53f7ef12..70d1bc09 100644
--- a/controls/sae_2025_ws/src/uav/uav/modes/payload/PayloadWaitForDriveOutMode.py
+++ b/controls/sae_2025_ws/src/uav/uav/modes/payload/PayloadWaitForDriveOutMode.py
@@ -210,17 +210,23 @@ def _publish_debug(
 
         now = self._now()
         if orange_found:
-            elapsed = (now - self._clear_since) if self._clear_since is not None else 0.0
+            elapsed = (
+                (now - self._clear_since) if self._clear_since is not None else 0.0
+            )
             state_label = f"DLZ {elapsed:.1f}/{self.dlz_color_wait_seconds:.1f}s"
             label_color = (0, 255, 0)
         elif is_still:
-            state_label = f"OBSTRUCTED {self._obstruction_count}/{self.obstruction_frames}"
+            state_label = (
+                f"OBSTRUCTED {self._obstruction_count}/{self.obstruction_frames}"
+            )
             label_color = (0, 140, 255)
         else:
             state_label = "IN-FLIGHT"
             label_color = (128, 128, 128)
 
-        cv2.putText(vis, state_label, (8, 30), cv2.FONT_HERSHEY_SIMPLEX, 0.7, label_color, 2)
+        cv2.putText(
+            vis, state_label, (8, 30), cv2.FONT_HERSHEY_SIMPLEX, 0.7, label_color, 2
+        )
         cv2.putText(
             vis,
             f"dlz={coverage:.2f} thresh={self.dlz_color_pixel_threshold:.2f}",
@@ -279,9 +285,13 @@ def on_update(self, time_delta: float) -> None:
                 self._obstruction_count = 0
                 if self._clear_since is None:
                     self._clear_since = now
-                    self.log(f"DLZ in view — starting {self.dlz_color_wait_seconds}s timer")
+                    self.log(
+                        f"DLZ in view — starting {self.dlz_color_wait_seconds}s timer"
+                    )
                 elapsed = now - self._clear_since
-                self.log(f"DLZ confirmed for {elapsed:.1f}/{self.dlz_color_wait_seconds:.1f}s")
+                self.log(
+                    f"DLZ confirmed for {elapsed:.1f}/{self.dlz_color_wait_seconds:.1f}s"
+                )
                 self._publish_debug(bgr, True, coverage, orange_mask, None)
                 if elapsed >= self.dlz_color_wait_seconds:
                     self.log("landing confirmed — moving to reverse")
@@ -289,7 +299,9 @@ def on_update(self, time_delta: float) -> None:
             else:
                 # Orange absent — reset DLZ timer, reset optical flow so readings are fresh
                 if self._clear_since is not None:
-                    self.log("orange lost — resetting DLZ timer, resetting optical flow")
+                    self.log(
+                        "orange lost — resetting DLZ timer, resetting optical flow"
+                    )
                     self._prev_gray = None
                     self._flow_deltas.clear()
                 self._clear_since = None
diff --git a/docs/doc_utils.py b/docs/doc_utils.py
index d5097af2..2c373fff 100644
--- a/docs/doc_utils.py
+++ b/docs/doc_utils.py
@@ -74,8 +74,3 @@ def find_ros_packages(
     print("\nCMAKE:")
     for pkg in find_ros_packages(Path("controls/sae_2025_ws/src"), ament_type="cmake"):
         print(pkg)
-
-
-
-
-
diff --git a/docs/gen_pkg_pages.py b/docs/gen_pkg_pages.py
index 10e3c2c2..38fb46df 100644
--- a/docs/gen_pkg_pages.py
+++ b/docs/gen_pkg_pages.py
@@ -53,9 +53,11 @@ def _first_paragraph(readme: Path) -> str:
     readme = pkg_dir / "README.md"
     docs_dir = pkg_dir / "docs"
 
-    supplementary = sorted(
-        f for f in docs_dir.iterdir() if f.is_file() and f.suffix == ".md"
-    ) if docs_dir.is_dir() else []
+    supplementary = (
+        sorted(f for f in docs_dir.iterdir() if f.is_file() and f.suffix == ".md")
+        if docs_dir.is_dir()
+        else []
+    )
 
     if readme.exists():
         dest = Path("packages", pkg_name, "README.md")
@@ -81,7 +83,9 @@ def _first_paragraph(readme: Path) -> str:
         with mkdocs_gen_files.open(dest, "w") as fd:
             fd.write(doc_file.read_text())
         mkdocs_gen_files.set_edit_path(dest, doc_file.relative_to(REPO_ROOT))
-        nav[(pkg_name, doc_file.stem)] = Path(pkg_name, "docs", doc_file.name).as_posix()
+        nav[(pkg_name, doc_file.stem)] = Path(
+            pkg_name, "docs", doc_file.name
+        ).as_posix()
 
 with mkdocs_gen_files.open("packages/SUMMARY.md", "w") as nav_file:
     nav_file.writelines(nav.build_literate_nav())
diff --git a/docs/gen_ref_pages.py b/docs/gen_ref_pages.py
index 905046a7..6313dc9b 100644
--- a/docs/gen_ref_pages.py
+++ b/docs/gen_ref_pages.py
@@ -27,14 +27,7 @@
 # -----------------------------
 # Skip ROS/non-Python API dirs
 # -----------------------------
-PY_PKG_SKIP_DIRS = {
-    "launch",
-    "config",
-    "urdf",
-    "meshes",
-    "worlds",
-    "models"
-}
+PY_PKG_SKIP_DIRS = {"launch", "config", "urdf", "meshes", "worlds", "models"}
 
 SKIP_FILES = {
     "setup",
@@ -43,7 +36,6 @@
 nav = mkdocs_gen_files.Nav()
 
 for path in sorted(src.rglob("*.py")):
-
     # restict to only listed python packages
     valid_module = False
     for pkg_module in PYTHON_PACKAGE_MODULE_ROOTS:

From 95ad74b6ad820ca3d16e3f7b0917c8f1d7841e6f Mon Sep 17 00:00:00 2001
From: yuzhiliu8 <yuzhiliu8@gmail.com>
Date: Thu, 30 Apr 2026 23:54:49 -0400
Subject: [PATCH 7/9] doxygen requirement, update dependencies

q
---
 .github/workflows/docs.yml | 2 ++
 docs/docs-setup.md         | 9 +++++++++
 2 files changed, 11 insertions(+)

diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index 0fe620b2..af33c56e 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -13,6 +13,7 @@ jobs:
       - uses: actions/setup-python@v5
         with:
           python-version: "3.10"
+      - run: sudo apt-get install -y doxygen
       - run: |
           pip install \
             properdocs \
@@ -33,6 +34,7 @@ jobs:
       - uses: actions/setup-python@v5
         with:
           python-version: "3.10"
+      - run: sudo apt-get install -y doxygen
       - run: |
           pip install \
             properdocs \
diff --git a/docs/docs-setup.md b/docs/docs-setup.md
index 94185f03..b52a4d59 100644
--- a/docs/docs-setup.md
+++ b/docs/docs-setup.md
@@ -4,6 +4,15 @@ Docs are built with [MkDocs](https://www.mkdocs.org/) via the `properdocs` wrapp
 
 ## Serving locally
 
+Install dependencies:
+
+```bash
+sudo apt-get install -y doxygen
+pip install properdocs mkdocs-material "mkdocstrings[python]" mkdocs-gen-files mkdocs-literate-nav mkdocs-section-index mkdoxy
+```
+
+Then serve:
+
 ```bash
 properdocs serve
 ```

From a9f73119682c87ce5a26e13cc7905ebca9af7765 Mon Sep 17 00:00:00 2001
From: yuzhiliu8 <yuzhiliu8@gmail.com>
Date: Fri, 1 May 2026 00:24:05 -0400
Subject: [PATCH 8/9] fixed tests hopefully

---
 .../sae_2025_ws/src/integration/backend/mission_compat.py    | 2 +-
 controls/sae_2025_ws/src/uav/test/test_auto_launch.py        | 1 +
 controls/sae_2025_ws/src/uav/test/test_launch_helpers.py     | 5 +++++
 3 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/controls/sae_2025_ws/src/integration/backend/mission_compat.py b/controls/sae_2025_ws/src/integration/backend/mission_compat.py
index e1b46712..28bbdb80 100644
--- a/controls/sae_2025_ws/src/integration/backend/mission_compat.py
+++ b/controls/sae_2025_ws/src/integration/backend/mission_compat.py
@@ -245,7 +245,7 @@ def load_mission_spec_compat(path: str | Path | dict[str, Any]) -> MissionSpecCo
         unknown_targets = sorted(
             next_mode
             for next_mode in mode_spec.transitions.values()
-            if next_mode not in modes
+            if next_mode not in modes and next_mode != "terminate"
         )
         if unknown_targets:
             raise ValueError(
diff --git a/controls/sae_2025_ws/src/uav/test/test_auto_launch.py b/controls/sae_2025_ws/src/uav/test/test_auto_launch.py
index e22cbefa..fecdfec8 100644
--- a/controls/sae_2025_ws/src/uav/test/test_auto_launch.py
+++ b/controls/sae_2025_ws/src/uav/test/test_auto_launch.py
@@ -700,6 +700,7 @@ def test_payload_bootstrap_forwards_auto_launch(monkeypatch, auto_launch):
         "vehicle_name": "payload_0",
         "peer_heartbeat_hz": 12.0,
         "peer_stale_timeout_s": 0.75,
+        "vision_debug": False,
     }
     bootstrap.get_parameter = lambda name: _FakeParameter(parameters[name])
 
diff --git a/controls/sae_2025_ws/src/uav/test/test_launch_helpers.py b/controls/sae_2025_ws/src/uav/test/test_launch_helpers.py
index 3323a15f..6384fa50 100644
--- a/controls/sae_2025_ws/src/uav/test/test_launch_helpers.py
+++ b/controls/sae_2025_ws/src/uav/test/test_launch_helpers.py
@@ -664,6 +664,7 @@ def test_build_runtime_parameters_for_uav(stack_launch_module):
         vehicle_name="uav_3",
         auto_launch=True,
         debug=1,
+        vision_debug=False,
         servo_only=0,
         vehicle_class_name="MULTICOPTER",
         camera_mount_offsets=[0.1, 0.2, 0.3],
@@ -687,6 +688,7 @@ def test_build_runtime_parameters_for_payload(stack_launch_module):
         vehicle_name="payload_0",
         auto_launch=False,
         debug=True,
+        vision_debug=False,
         servo_only=True,
         vehicle_class_name=None,
         camera_mount_offsets=[],
@@ -696,6 +698,7 @@ def test_build_runtime_parameters_for_payload(stack_launch_module):
         "mode_map": "/tmp/payload.yaml",
         "auto_launch": False,
         "vehicle_name": "payload_0",
+        "vision_debug": False,
     }
 
 
@@ -707,6 +710,7 @@ def test_build_runtime_parameters_rejects_missing_vehicle_class(stack_launch_mod
             vehicle_name="uav",
             auto_launch=True,
             debug=False,
+            vision_debug=False,
             servo_only=False,
             vehicle_class_name=None,
             camera_mount_offsets=[0.0, 0.0, 0.0],
@@ -723,6 +727,7 @@ def test_build_runtime_parameters_rejects_bad_camera_offsets(stack_launch_module
             vehicle_name="uav",
             auto_launch=True,
             debug=False,
+            vision_debug=False,
             servo_only=False,
             vehicle_class_name="MULTICOPTER",
             camera_mount_offsets=[0.0, 0.0],

From 64fecf7a881ab575bdcd3779d306b2d5f3f2a4ea Mon Sep 17 00:00:00 2001
From: yuzhiliu8 <yuzhiliu8@gmail.com>
Date: Fri, 1 May 2026 00:36:08 -0400
Subject: [PATCH 9/9] added udp bridge

---
 controls/sae_2025_ws/scripts/ci/validate_ros_workspace.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/controls/sae_2025_ws/scripts/ci/validate_ros_workspace.sh b/controls/sae_2025_ws/scripts/ci/validate_ros_workspace.sh
index 716874ca..a1e7bafa 100755
--- a/controls/sae_2025_ws/scripts/ci/validate_ros_workspace.sh
+++ b/controls/sae_2025_ws/scripts/ci/validate_ros_workspace.sh
@@ -31,7 +31,7 @@ rosdep install -r -i -y --rosdistro "$ROS_DISTRO" \
 
 ci_log "Building shared hardware dependencies"
 colcon build \
-    --packages-select payload_interfaces px4_msgs uav_interfaces actuator_msgs
+    --packages-select payload_interfaces px4_msgs uav_interfaces actuator_msgs udp_bridge
 
 ci_log "Building hardware payload package"
 ci_source_workspace "$WORKSPACE_ROOT"