diff --git a/scripts/run_ardupilot_sim.sh b/scripts/run_ardupilot_sim.sh
index bd63213..9b9a315 100755
--- a/scripts/run_ardupilot_sim.sh
+++ b/scripts/run_ardupilot_sim.sh
@@ -113,27 +113,34 @@ fi
 # =============================================================================
 WORLD_ARG="${1:-runway}"
 
+# All worlds must come from ardupilot_gazebo (they have the ArduPilot plugin)
 case "$WORLD_ARG" in
-    camera)
-        WORLD="${PROJECT_DIR}/gazebo/worlds/iris_camera.sdf"
-        echo "[INFO] Using camera world (with downward camera)"
-        ;;
-    runway)
+    runway|iris)
         WORLD="${HOME}/ardupilot_gazebo/worlds/iris_runway.sdf"
         ;;
+    zephyr|plane)
+        WORLD="${HOME}/ardupilot_gazebo/worlds/zephyr_runway.sdf"
+        ;;
     *)
-        WORLD="$WORLD_ARG"
+        # Try as full path
+        if [ -f "$WORLD_ARG" ]; then
+            WORLD="$WORLD_ARG"
+        else
+            WORLD="${HOME}/ardupilot_gazebo/worlds/${WORLD_ARG}.sdf"
+        fi
         ;;
 esac
 
 if [ ! -f "$WORLD" ]; then
     echo "[ERROR] World file not found: $WORLD"
-    echo "Available worlds:"
-    ls -1 ~/ardupilot_gazebo/worlds/*.sdf 2>/dev/null || echo "  None in ardupilot_gazebo"
-    ls -1 "${PROJECT_DIR}/gazebo/worlds/"*.sdf 2>/dev/null || echo "  None in local"
+    echo ""
+    echo "Available worlds in ~/ardupilot_gazebo/worlds/:"
+    ls -1 ~/ardupilot_gazebo/worlds/*.sdf 2>/dev/null | xargs -n1 basename
     exit 1
 fi
 
+echo "[INFO] World: $(basename "$WORLD")"
+
 # =============================================================================
 # INSTRUCTIONS
 # =============================================================================