maskilx/gps-denied-visual-drone-navigation ? reverse-engineered prompt

Build me a Python project for GPS denied visual drone navigation in PX4 simulation.

I want the drone to start from an unknown spot and unknown yaw inside a known map, do a camera panorama, figure out where it is using visual landmarks, plan a route through the map, then follow the route by picking the next waypoint from a pretrained navigation model. It should turn those waypoints into PX4 safe velocity and yaw commands, and only move on to the next graph node when the visuals say it has really arrived.

Please include a small demo I can run locally without launching the full simulator, plus tests for the map logic, localization, planning, and safety checks. If you need current docs or model details, look them up online. Keep it focused on a single simulated map and make the code easy to inspect and extend.