Code reorganization and Drone Logic Update

docs/installation.md

@@ -1,110 +1,62 @@
-# Installation Guide
+# Installation
 
 ## Quick Install
 
 ```bash
 ./setup/install_ubuntu.sh
-source activate.sh
-python standalone_simulation.py
-```
-
-## Scripts
-
-| Platform | Command |
-|----------|---------|
-| Ubuntu/Debian | `./setup/install_ubuntu.sh` |
-| ArduPilot SITL | `./setup/install_ardupilot.sh` |
-| macOS | `./setup/install_macos.sh` |
-| Windows | `.\setup\install_windows.ps1` |
-
-## Platform Support
-
-| Mode | Ubuntu | macOS | Windows |
-|------|--------|-------|---------|
-| Standalone | ✅ | ✅ | ✅ |
-| Gazebo | ✅ | ❌ | WSL2 |
-| ArduPilot | ✅ | ❌ | WSL2 |
-
----
-
-## Ubuntu/Debian
-
-```bash
-./setup/install_ubuntu.sh
-source activate.sh
-```
-
-Installs: ROS 2, Gazebo, PyBullet, OpenCV, pymavlink
-
----
-
-## ArduPilot SITL
-
-```bash
 ./setup/install_ardupilot.sh
 source ~/.bashrc
 ```
 
-Installs: ArduPilot SITL, ardupilot_gazebo, MAVProxy
+## What Gets Installed
 
-**Run:**
-```bash
-./scripts/run_ardupilot_sim.sh camera
-```
+| Component | Location |
+|-----------|----------|
+| ArduPilot SITL | `~/ardupilot` |
+| ardupilot_gazebo | `~/ardupilot_gazebo` |
+| Gazebo Harmonic | System |
+| ROS 2 | System |
+| MAVProxy | `~/.local/bin` |
 
----
-
-## GPU Support
-
-The simulation auto-detects GPU:
-
-| Priority | GPU Type | Notes |
-|----------|----------|-------|
-| 1 | NVIDIA | Best performance |
-| 2 | Intel integrated | Good for laptops |
-| 3 | AMD | Good performance |
-| 4 | Software (llvmpipe) | Slow fallback |
-
-Check your GPU:
-```bash
-glxinfo | grep "OpenGL renderer"
-```
-
----
-
-## Manual Install
+## Dependencies
 
 ```bash
-python3 -m venv venv
-source venv/bin/activate
 pip install -r requirements.txt
-python standalone_simulation.py
 ```
 
----
+- pybullet
+- numpy
+- pillow
+- opencv-python
+- pymavlink
+- pexpect
+
+## Verify Installation
+
+```bash
+sim_vehicle.py --help
+gz sim --help
+```
 
 ## Troubleshooting
 
-### Simulation is laggy
-
-```bash
-# Check GPU (should NOT show "llvmpipe")
-glxinfo | grep "OpenGL renderer"
-
-# Install GPU drivers
-sudo apt install mesa-utils  # Intel/AMD
-sudo apt install nvidia-driver-535  # NVIDIA
-```
-
-### MAVProxy not found
-
-```bash
-pip3 install --user mavproxy
-export PATH=$PATH:~/.local/bin
-```
-
 ### sim_vehicle.py not found
-
 ```bash
 export PATH=$PATH:~/ardupilot/Tools/autotest
 ```
+
+### mavproxy.py not found
+```bash
+export PATH=$PATH:~/.local/bin
+```
+
+### pexpect error
+```bash
+pip install pexpect
+```
+
+### Gazebo slow
+```bash
+glxinfo | grep "OpenGL renderer"
+```
+Should show GPU, not "llvmpipe".