In watching today's BulgariaSat-1 broadcast:
It was mentioned that the drone ship had acquired the 1st stage as it was returning. I had always been under the impression that the landing was "controlled" by computers on the 1st stage rocket as it was re-entering, but based on the video, it seemed to indicate that it was the drone ship that was doing the controlling? So, where is the autonomous landing actually controlled from? The 1st stage, or the landing platform (whether on a barge or on land)?
My guess is that the control is done from the rocket side, but with information provided to the rocket from the ground in regards to positioning, distance, wind speed, etc., but I am curious to the actual role each "side" has in the landing procedure.