Update README.md

Author: mchan5

README.md

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-# autonomy-bootcamp-2025-p2
-Autonomy bootcamp starting F25 part 2
+# MAVLink Ground Control Station 
+![Python](https://img.shields.io/badge/Python-3.11-blue.svg)
+![MAVLink](https://img.shields.io/badge/Protocol-MAVLink-1e90ff.svg)
+![Linting](https://img.shields.io/badge/Pylint-10.00%2F10-brightgreen)
 
-Follow the [instructions](https://uwarg-docs.atlassian.net/wiki/spaces/BOOT/pages/3355672582/NEW+Autonomy+Bootcamp).
+## Project Overview
 
-You can find part 1 [here](https://github.com/UWARG/autonomy-bootcamp-2025-p1).
+This project implements a multi-process **Ground Station** capable of autonomously monitoring and controlling a UAV using the **MAVLink** communication protocol. It is built to interface with PX4, ArduPilot, and other MAVLink-compatible flight stacks.
+It is designed to simulate real-world airside operations, where independent workers communicate via concurrent queues to handle telemetry aggregation, heartbeat monitoring, and command issuance in real-time with no data loss.
+
+## System Architecture
+Python, MAVLink Protocol, Multithreading, CI/CD
+
+The core system relies on Python's `multiprocessing` library to ensure non-blocking operations. The "Main" process acts as the orchestrator, managing the lifecycle of four distinct worker processes:
+
+### 1. Heartbeat Management
+* **Sender:** Broadcasts `HEARTBEAT (0)` messages at **1 Hz** to maintain the link with the drone.
+* **Receiver:** Monitors incoming heartbeats. Implements a watchdog timer that flags the system as **"Disconnected"** if 5 consecutive heartbeats are missed.
+
+### 2. Telemetry Aggregation
+* **Input:** Listens for `ATTITUDE (30)` and `LOCAL_POSITION_NED (32)` MAVLink messages.
+* **Logic:** Synchronizes these asynchronous streams into a single, cohesive `TelemetryData` object.
+* **Output:** Pushes the unified state packet to the Command Worker.
+
+### 3. Command & Control Logic
+* **Objective:** Keeps the drone focused on a target in 3D space.
+* **Yaw Control:** Issues `MAV_CMD_CONDITION_YAW` if the heading deviates by more than **5°**.
+* **Altitude Control:** Issues `MAV_CMD_CONDITION_CHANGE_ALT` if the altitude deviates by more than **0.5m**.
+* **Performance:** Calculates and logs the drone's average 3D velocity vector between updates.
+
+## Testing & Validation
+
+The system includes a suite of integration tests that spawn "Mock Drones" to validate the logic and confirm consistency of each worker.
+
+**Running Integration Tests:**
+```bash
+# Test Heartbeat Logic
+python -m tests.integration.test_heartbeat_sender
+python -m tests.integration.test_heartbeat_receiver
+
+# Test Telemetry Aggregation
+python -m tests.integration.test_telemetry
+
+# Test Command Logic
+python -m tests.integration.test_command
+
+```
+Each of these sections include a script for the logic behind the worker, a script to instantiate and create the worker, and a respective test for each worker. This is integrated into CI/CD testing. 
+
+## Acknowledgements
+The Waterloo Aerial Robotics Group (WARG) helped develop the initial framework for this project. However, all logic and integration was contributed by me.