This is autonomous drone landing simulation. Here is the block diagram for simple drone simulation. Fig1. Block diagram for drone control

Run

Recommend to use uv.

$ uv sync
$ source ./venv/bin/activate
$ python3 simu.py

Result

Here is the landing result from the initial position (x, y, z) = (1.0, 1.3, 1.5) m to the target at (0, 0, 0) m.

Fig2. Trajectory from (1.0, 1.3, 1.5) to (0, 0, 0) (m)

Fig 3.1. Time-series plot of roll and pitch angles Fig 3.2. Time-series plot of yaw angles