This is autonomous drone landing simulation. Here is the block diagram for simple drone simulation.
Fig1. Block diagram for drone control
Recommend to use uv.
$ uv sync
$ source ./venv/bin/activate
$ python3 simu.py
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