diff --git a/README.md b/README.md
index a744d6e..2b59963 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # RDC Simulation
 
-GPS-denied drone landing simulation using ArduPilot and Gazebo.
+**GPS-Denied Drone Landing Simulation** using ArduPilot and Gazebo.
 
 ## Quick Start
 
@@ -23,25 +23,23 @@ cd RDC_Simulation
 source ~/.bashrc
 ```
 
-### Run the Simulation
+### Run the Simulation (3 Terminals)
 
-You need **3 terminals**:
-
-**Terminal 1 - Gazebo:**
+**Terminal 1 - Start Gazebo FIRST:**
 ```bash
 cd ~/RDC_Simulation
 ./scripts/run_ardupilot_sim.sh runway
-# Wait until the drone appears in Gazebo
+# WAIT until you see the drone in Gazebo!
 ```
 
-**Terminal 2 - SITL:**
+**Terminal 2 - Start ArduCopter SITL:**
 ```bash
 source ~/venv-ardupilot/bin/activate
 sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
-# Wait for "Waiting for connection" then telemetry
+# Wait for "JSON received:" messages (shows Gazebo is connected)
 ```
 
-**Terminal 3 - Controller:**
+**Terminal 3 - Run Controller:**
 ```bash
 source ~/venv-ardupilot/bin/activate
 cd ~/RDC_Simulation
@@ -62,6 +60,9 @@ python scripts/run_ardupilot.py --pattern hover
 
 # Custom altitude
 python scripts/run_ardupilot.py --pattern square --altitude 10
+
+# Use GPS mode instead of GPS-denied
+python scripts/run_ardupilot.py --pattern square --gps
 ```
 
 ## Project Structure
@@ -71,13 +72,13 @@ RDC_Simulation/
 ├── scripts/
 │   ├── run_ardupilot_sim.sh      # Launch Gazebo
 │   ├── run_ardupilot_controller.sh # Launch SITL + Controller
-│   └── run_ardupilot.py          # Flight controller
+│   └── run_ardupilot.py          # Flight controller entry point
 ├── src/
-│   ├── drone_controller.py       # Simple drone controller
+│   ├── drone_controller.py       # Main drone controller class
 │   ├── rover_controller.py       # Moving landing pad (ROS 2)
 │   └── camera_viewer.py          # Camera viewer (ROS 2)
 ├── setup/
-│   ├── install_ubuntu.sh         # Ubuntu installer
+│   ├── install_ubuntu.sh         # Ubuntu/WSL installer
 │   ├── install_ardupilot.sh      # ArduPilot installer
 │   └── install_arch.sh           # Arch Linux installer
 ├── gazebo/
@@ -92,29 +93,40 @@ RDC_Simulation/
 Gazebo isn't sending data to SITL.
 - **Fix**: Start Gazebo FIRST, wait for it to fully load, THEN start SITL.
 
-### "empy not found"
-Wrong Python environment.
-- **Fix**: `source ~/venv-ardupilot/bin/activate`
+### "empy not found" or wrong Python
+Wrong virtual environment.
+```bash
+source ~/venv-ardupilot/bin/activate
+pip install empy==3.3.4
+```
 
 ### "sim_vehicle.py not found"
 ArduPilot tools not in PATH.
-- **Fix**: `source ~/.ardupilot_env`
+```bash
+source ~/.ardupilot_env
+```
 
-### Can't arm
-The drone won't arm or takeoff.
-- **Fix**: Make sure you're in GUIDED mode and Gazebo is running.
-- Check console for pre-arm errors.
+### Drone won't arm
+- Make sure SITL is in STABILIZE or GUIDED mode
+- Check for pre-arm errors in MAVProxy console
+- Try in MAVProxy: `arm throttle force`
 
-### Gazebo is slow
-- Try a lighter world: `./scripts/run_ardupilot_sim.sh runway`
-- Check GPU: `glxinfo | grep "OpenGL renderer"`
+### Wrong vehicle type (ArduPlane instead of ArduCopter)
+You see modes like FBWA, FBWB, QSTABILIZE.
+```bash
+# Kill old processes
+pkill -9 -f sim_vehicle
+
+# Start with explicit ArduCopter
+sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --wipe-eeprom
+```
 
 ## Documentation
 
 - [Installation Guide](docs/installation.md)
 - [ArduPilot Guide](docs/ardupilot.md)
+- [Drone Controller Guide](docs/drone_guide.md)
 - [Architecture](docs/architecture.md)
-- [Gazebo Worlds](docs/gazebo_worlds.md)
 
 ## License
 
diff --git a/docs/ardupilot.md b/docs/ardupilot.md
index feb491f..b201dda 100644
--- a/docs/ardupilot.md
+++ b/docs/ardupilot.md
@@ -1,42 +1,39 @@
 # ArduPilot + Gazebo Guide
 
-## Overview
-
-This project uses:
-- **ArduPilot SITL**: Software-in-the-loop flight controller
-- **Gazebo**: 3D physics simulation
-- **MAVLink**: Communication protocol
-
 ## Architecture
 
 ```
-┌─────────────┐     JSON (UDP 9002)    ┌─────────────┐    MAVLink (TCP 5760)    ┌─────────────┐
-│   Gazebo    │◄──────────────────────►│ ArduPilot   │◄────────────────────────►│   Your      │
-│  (Physics)  │     sensor data        │    SITL     │     commands/telemetry   │ Controller  │
-└─────────────┘                        └─────────────┘                          └─────────────┘
+┌─────────────────┐       UDP 9002        ┌─────────────────┐      TCP 5760       ┌─────────────────┐
+│                 │   JSON sensor data    │                 │    MAVLink cmds     │                 │
+│     Gazebo      │◄─────────────────────►│  ArduPilot SITL │◄───────────────────►│   Controller    │
+│   (Physics)     │   motor commands      │  (ArduCopter)   │    telemetry        │ (run_ardupilot) │
+│                 │                       │                 │                     │                 │
+└─────────────────┘                       └─────────────────┘                     └─────────────────┘
 ```
 
-## Quick Start
+## Quick Start (3 Terminals)
 
-### Step 1: Start Gazebo
+### Terminal 1: Start Gazebo FIRST
 
 ```bash
 cd ~/RDC_Simulation
 ./scripts/run_ardupilot_sim.sh runway
 ```
 
-Wait until the drone appears in the 3D view.
+Wait until the drone appears in the 3D view!
 
-### Step 2: Start SITL
+### Terminal 2: Start ArduCopter SITL
 
 ```bash
 source ~/venv-ardupilot/bin/activate
 sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
 ```
 
-You should see telemetry scrolling (NOT "No JSON sensor message").
+You should see:
+- "JSON received: timestamp, imu, position..." ✅
+- NOT "No JSON sensor message received" ❌
 
-### Step 3: Run Controller
+### Terminal 3: Run Controller
 
 ```bash
 source ~/venv-ardupilot/bin/activate
@@ -53,44 +50,72 @@ python scripts/run_ardupilot.py --pattern square --size 5 --altitude 5
 # Circle pattern (5m radius)
 python scripts/run_ardupilot.py --pattern circle --size 5
 
-# Hover in place for testing
+# Hover in place
 python scripts/run_ardupilot.py --pattern hover
 
-# Larger pattern at higher altitude
-python scripts/run_ardupilot.py --pattern square --size 10 --altitude 15
+# GPS mode (instead of GPS-denied)
+python scripts/run_ardupilot.py --pattern square --gps
 ```
 
 ## Controller Code
 
-The flight controller is in `src/drone_controller.py`:
-
 ```python
 from src.drone_controller import DroneController
 
 drone = DroneController()
 drone.connect()
-drone.set_mode("GUIDED")
+
+# GPS-denied setup
+drone.setup_gps_denied()
+drone.set_mode("GUIDED_NOGPS")
+
+# Or GPS mode
+# drone.set_mode("GUIDED")
+
 drone.arm()
 drone.takeoff(5.0)
 drone.fly_square(size=5, altitude=5)
 drone.land()
 ```
 
-### Key Methods
+## ArduCopter Flight Modes
 
-| Method | Description |
-|--------|-------------|
-| `connect()` | Connect to SITL via MAVLink |
-| `set_mode(mode)` | Set flight mode (GUIDED, LAND, etc.) |
-| `arm()` | Arm motors (force arm) |
-| `takeoff(alt)` | Take off to altitude |
-| `goto(x, y, z)` | Go to position (NED frame) |
-| `fly_to_and_wait(x, y, alt)` | Go to position and wait |
-| `fly_square(size, alt)` | Fly square pattern |
-| `fly_circle(radius, alt)` | Fly circle pattern |
-| `land()` | Land the drone |
+| Mode | ID | Description |
+|------|-----|-------------|
+| STABILIZE | 0 | Manual, self-leveling |
+| ALT_HOLD | 2 | Hold altitude |
+| GUIDED | 4 | Waypoint commands (GPS required) |
+| LOITER | 5 | Hold position (GPS required) |
+| RTL | 6 | Return to launch |
+| LAND | 9 | Automatic landing |
+| **GUIDED_NOGPS** | 20 | Commands without GPS |
 
-## Available Worlds
+## MAVProxy Commands
+
+In the SITL console, you can type:
+
+```bash
+# Check status
+status
+
+# Change mode
+mode GUIDED
+mode GUIDED_NOGPS
+
+# Arm
+arm throttle force
+
+# Takeoff (in GUIDED mode)
+takeoff 5
+
+# Land
+mode LAND
+
+# Set parameter
+param set ARMING_CHECK 0
+```
+
+## Gazebo Worlds
 
 ```bash
 # Outdoor runway (default)
@@ -102,83 +127,73 @@ drone.land()
 
 ## MAVLink Connection
 
-The controller connects via TCP port 5760:
+Default: `tcp:127.0.0.1:5760`
 
-```python
-# config.py
-MAVLINK = {
-    "connection_string": "tcp:127.0.0.1:5760",
-}
-```
+Port map:
+- **5760**: Primary MAVLink (SERIAL0)
+- **5762**: Secondary (SERIAL1)
+- **5763**: Tertiary (SERIAL2)
+- **14550**: MAVProxy GCS output (UDP)
 
 ## Troubleshooting
 
 ### "No JSON sensor message received"
 
-SITL isn't receiving data from Gazebo.
+Gazebo isn't sending data.
 
 **Fix:**
 1. Make sure Gazebo is running FIRST
-2. Wait for the world to fully load
+2. Wait for world to fully load
 3. Then start SITL
 
 ### Drone won't arm
 
 **Fix:**
 ```bash
-# Check pre-arm status in MAVProxy
-arm status
-
-# Force arm
+# In MAVProxy console
 arm throttle force
+
+# Or set in your code
+drone.set_param("ARMING_CHECK", 0)
 ```
 
-### Wrong Python environment
+### Wrong vehicle type (ArduPlane)
+
+Mode list shows FBWA, FBWB, QSTABILIZE instead of GUIDED_NOGPS, ALT_HOLD.
 
 **Fix:**
 ```bash
-source ~/venv-ardupilot/bin/activate
-which python3  # Should be ~/venv-ardupilot/bin/python3
+pkill -9 -f sim_vehicle
+sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --wipe-eeprom
 ```
 
+### Mode not changing
+
+The controller hardcodes mode IDs for ArduCopter. If using ArduPlane, modes will differ.
+
 ### Gazebo plugin not loading
 
-**Fix:**
 ```bash
 # Check plugin exists
 ls ~/ardupilot_gazebo/build/libArduPilotPlugin.so
 
-# Check paths
+# Check environment
 echo $GZ_SIM_SYSTEM_PLUGIN_PATH
 # Should include: ~/ardupilot_gazebo/build
 ```
 
-## Manual SITL Control
-
-Use MAVProxy commands:
-
-```bash
-# In SITL console
-mode GUIDED
-arm throttle force
-takeoff 5
-
-# Move to position
-guided 10 0 -5
-
-# Land
-mode LAND
-```
-
-## Useful Commands
+## Useful Debug Commands
 
 ```bash
 # List Gazebo topics
 gz topic -l
 
-# Check SITL status
-sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --map
+# Echo a topic
+gz topic -e -t /model/iris_with_gimbal/pose
 
-# View camera (if available)
-gz topic -e -t /camera
+# Check SITL processes
+ps aux | grep ardupilot
+
+# Check port usage
+lsof -i :5760
 ```
diff --git a/docs/drone_guide.md b/docs/drone_guide.md
index 4b89cc4..35d44bc 100644
--- a/docs/drone_guide.md
+++ b/docs/drone_guide.md
@@ -2,43 +2,45 @@
 
 ## Overview
 
-The drone controller (`src/drone_controller.py`) provides a simple interface for flying the drone in simulation.
+The `DroneController` class (`src/drone_controller.py`) provides a simple interface for controlling the drone in ArduPilot SITL simulation.
 
-## Usage
-
-### Command Line
+## Command Line Usage
 
 ```bash
+# Activate environment first
 source ~/venv-ardupilot/bin/activate
 cd ~/RDC_Simulation
 
-# Fly a square pattern
+# Run flight patterns
 python scripts/run_ardupilot.py --pattern square
-
-# Options
-python scripts/run_ardupilot.py --help
+python scripts/run_ardupilot.py --pattern circle
+python scripts/run_ardupilot.py --pattern hover
 ```
 
 ### Options
 
 | Option | Default | Description |
 |--------|---------|-------------|
-| `--pattern` | square | Flight pattern: square, circle, hover |
-| `--altitude` | 5 | Flight altitude in meters |
-| `--size` | 5 | Pattern size (side length or radius) |
-| `--connection` | tcp:127.0.0.1:5760 | MAVLink connection string |
+| `--pattern, -p` | square | Flight pattern: square, circle, hover |
+| `--altitude, -a` | 5.0 | Flight altitude in meters |
+| `--size, -s` | 5.0 | Pattern size (side length or radius) |
+| `--connection, -c` | tcp:127.0.0.1:5760 | MAVLink connection string |
+| `--gps` | false | Use GPS mode (default is GPS-denied) |
 
 ### Examples
 
 ```bash
-# Fly a 10m square at 8m altitude
-python scripts/run_ardupilot.py --pattern square --size 10 --altitude 8
+# Large square at high altitude
+python scripts/run_ardupilot.py --pattern square --size 10 --altitude 15
 
-# Fly a circle with 5m radius
-python scripts/run_ardupilot.py --pattern circle --size 5
+# Small circle
+python scripts/run_ardupilot.py --pattern circle --size 3 --altitude 5
 
-# Just hover (useful for testing)
+# Hover for testing
 python scripts/run_ardupilot.py --pattern hover
+
+# GPS mode (instead of GPS-denied)
+python scripts/run_ardupilot.py --pattern square --gps
 ```
 
 ## Python API
@@ -54,123 +56,119 @@ if not drone.connect():
     print("Connection failed")
     exit(1)
 
-# Takeoff
-drone.set_mode("GUIDED")
+# Setup for GPS-denied (disables arming checks)
+drone.setup_gps_denied()
+
+# Set mode and arm
+drone.set_mode("GUIDED_NOGPS")  # or "GUIDED" for GPS mode
 drone.arm()
+
+# Takeoff
 drone.takeoff(5.0)
 
-# Fly
+# Fly a pattern
 drone.fly_square(size=5, altitude=5)
 
 # Land
 drone.land()
 ```
 
-### Class: DroneController
+### DroneController Class
 
-#### Connection
+#### Constructor
 
 ```python
 drone = DroneController(connection_string="tcp:127.0.0.1:5760")
-drone.connect(timeout=30)  # Returns True/False
 ```
 
-#### State
+#### Properties
 
-```python
-drone.armed      # bool: Is the drone armed?
-drone.mode       # str: Current flight mode
-drone.altitude   # float: Current altitude (m)
-drone.position   # dict: {"x": float, "y": float, "z": float}
-```
+| Property | Type | Description |
+|----------|------|-------------|
+| `armed` | bool | Is the drone armed? |
+| `mode` | str | Current flight mode |
+| `altitude` | float | Current altitude (meters) |
+| `position` | dict | Current position {"x", "y", "z"} |
+| `vehicle_type` | str | "copter" or "plane" |
 
-#### Commands
+#### Methods
 
-```python
-drone.set_mode("GUIDED")       # Set flight mode
-drone.arm()                    # Arm motors (force arm)
-drone.takeoff(5.0)             # Takeoff to altitude
-drone.goto(x, y, z)            # Go to position (NED frame)
-drone.fly_to_and_wait(x, y, alt)  # Go and wait until reached
-drone.land()                   # Land
-```
+| Method | Description |
+|--------|-------------|
+| `connect(timeout=30)` | Connect to SITL, returns True/False |
+| `set_mode(mode)` | Set flight mode (GUIDED, GUIDED_NOGPS, LAND, etc.) |
+| `setup_gps_denied()` | Configure for GPS-denied operation |
+| `arm()` | Arm motors (force arm) |
+| `takeoff(altitude)` | Take off to altitude |
+| `goto(x, y, z)` | Go to position (NED frame) |
+| `fly_to_and_wait(x, y, alt)` | Go to position and wait until reached |
+| `fly_square(size, alt)` | Fly square pattern |
+| `fly_circle(radius, alt)` | Fly circle pattern |
+| `land()` | Land the drone |
+| `set_param(name, value)` | Set an ArduPilot parameter |
 
-#### Patterns
+### Flight Modes (ArduCopter)
 
-```python
-drone.fly_square(size=5, altitude=5)    # Square pattern
-drone.fly_circle(radius=5, altitude=5)  # Circle pattern
-```
+| Mode | ID | Description |
+|------|-----|-------------|
+| STABILIZE | 0 | Manual control, self-leveling |
+| ALT_HOLD | 2 | Hold altitude, manual position |
+| GUIDED | 4 | Accept waypoint commands (needs GPS) |
+| LOITER | 5 | Hold position |
+| RTL | 6 | Return to launch |
+| LAND | 9 | Automatic landing |
+| GUIDED_NOGPS | 20 | Accept commands without GPS |
 
 ## Coordinate System
 
 ArduPilot uses NED (North-East-Down):
-- **X**: North (positive forward)
-- **Y**: East (positive right)
-- **Z**: Down (negative is up!)
+- **X (North)**: Positive = forward
+- **Y (East)**: Positive = right
+- **Z (Down)**: Positive = down, **negative = up!**
 
 ```python
-# Go 5m north, 3m east, at 10m altitude
-drone.goto(5, 3, -10)  # Z is negative for altitude
+# Go 5m forward, 3m right, at 10m altitude
+drone.goto(5, 3, -10)  # Z is negative for altitude!
 ```
 
-## Flight Modes
+## GPS-Denied Mode
 
-| Mode | Description |
-|------|-------------|
-| GUIDED | Accept external commands |
-| LAND | Automatic landing |
-| LOITER | Hold position |
-| RTL | Return to launch |
-| STABILIZE | Manual control |
+The controller defaults to GPS-denied mode, which:
 
-## Sequence Diagram
+1. Disables arming checks (`ARMING_CHECK=0`)
+2. Uses `GUIDED_NOGPS` mode (ID 20)
+3. Relies on barometer for altitude
 
-```
-┌─────────┐      ┌──────────┐      ┌─────────┐
-│ Gazebo  │      │   SITL   │      │ Script  │
-└────┬────┘      └────┬─────┘      └────┬────┘
-     │                │                  │
-     │ Physics data   │                  │
-     │ ◄──────────────│                  │
-     │                │                  │
-     │ Sensor JSON    │                  │
-     │ ───────────────►                  │
-     │                │   Connect        │
-     │                │ ◄────────────────│
-     │                │                  │
-     │                │   Set GUIDED     │
-     │                │ ◄────────────────│
-     │                │                  │
-     │                │   Arm            │
-     │                │ ◄────────────────│
-     │                │                  │
-     │                │   Takeoff        │
-     │                │ ◄────────────────│
-     │                │                  │
-     │ Motor commands │                  │
-     │ ◄──────────────│                  │
-     │                │                  │
-     │ Drone moves    │                  │
-     │                │                  │
+To use GPS mode instead:
+```bash
+python scripts/run_ardupilot.py --pattern square --gps
 ```
 
 ## Troubleshooting
 
-### Drone doesn't move
+### Drone won't arm
 
-1. Check Gazebo is running
-2. Check SITL shows telemetry (not "No JSON sensor message")
-3. Check drone is armed
+1. Check MAVProxy console for pre-arm errors
+2. Try force arming in MAVProxy: `arm throttle force`
+3. Make sure SITL is connected to Gazebo (shows "JSON received:")
 
-### Timeout waiting for altitude
+### Mode not changing
 
-- Increase takeoff timeout
-- Check for pre-arm failures in SITL console
-
-### Connection refused
-
-```bash
-# Check SITL is running
-nc -z 127.0.0.1 5760 && echo "SITL is ready" || echo "SITL not running"
+Check the current mode in MAVProxy console. If stuck, try:
+```
+mode GUIDED
+```
+
+### Drone not moving
+
+1. Make sure you're in GUIDED or GUIDED_NOGPS mode
+2. Check altitude - drone needs to be off ground
+3. Verify Gazebo is running and responsive
+
+### Wrong vehicle type detected
+
+If you see ArduPlane modes (FBWA, FBWB), restart SITL:
+```bash
+pkill -9 -f sim_vehicle
+sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --wipe-eeprom
 ```
diff --git a/docs/installation.md b/docs/installation.md
index 6c36b34..2a1e591 100644
--- a/docs/installation.md
+++ b/docs/installation.md
@@ -2,19 +2,23 @@
 
 ## System Requirements
 
-- **OS**: Ubuntu 22.04 or 24.04 (Windows users: use WSL2)
-- **RAM**: 8GB minimum, 16GB recommended
-- **Disk**: 10GB free space
-- **GPU**: Any GPU with OpenGL 3.3+ support
+| Requirement | Minimum | Recommended |
+|-------------|---------|-------------|
+| **OS** | Ubuntu 22.04 | Ubuntu 24.04 |
+| **RAM** | 8 GB | 16 GB |
+| **Disk** | 10 GB | 20 GB |
+| **GPU** | OpenGL 3.3 | NVIDIA/AMD dedicated |
 
-## Quick Install (Ubuntu)
+> **Windows users**: Use WSL2 with Ubuntu (see below)
+
+## Quick Install (Ubuntu/WSL2)
 
 ```bash
 # Clone repository
-git clone <repo-url> RDC_Simulation
-cd RDC_Simulation
+git clone <repo-url> ~/RDC_Simulation
+cd ~/RDC_Simulation
 
-# Run installer (includes ArduPilot)
+# Run full installer (includes ArduPilot)
 ./setup/install_ubuntu.sh --with-ardupilot
 
 # Reload shell
@@ -22,11 +26,11 @@ source ~/.bashrc
 ```
 
 This installs:
-- Python 3 + virtual environment
-- Gazebo Harmonic
-- ArduPilot SITL
-- ArduPilot Gazebo plugin
-- MAVProxy
+- ✅ Python 3 + virtual environment
+- ✅ Gazebo Harmonic
+- ✅ ArduPilot SITL
+- ✅ ArduPilot Gazebo plugin
+- ✅ MAVProxy
 
 ## Windows (WSL2)
 
@@ -36,7 +40,8 @@ Open PowerShell as Administrator:
 ```powershell
 wsl --install -d Ubuntu-24.04
 ```
-Restart computer, then open Ubuntu from Start menu.
+
+Restart your computer, then open "Ubuntu" from the Start menu.
 
 ### Step 2: Install in WSL
 
@@ -49,32 +54,20 @@ git clone <repo-url> ~/RDC_Simulation
 cd ~/RDC_Simulation
 ./setup/install_ubuntu.sh --with-ardupilot
 
-# Reload
+# Reload shell
 source ~/.bashrc
 ```
 
 ### WSL2 Tips
 
-- **GUI Apps**: Windows 11 has WSLg built-in. Gazebo should work automatically.
-- **GPU**: Install NVIDIA WSL driver from [nvidia.com/wsl](https://developer.nvidia.com/cuda/wsl)
-- **Access Windows files**: `/mnt/c/Users/YourName/`
-- **Performance**: Clone repo to Linux filesystem (not `/mnt/c/`)
-
-## macOS
-
-macOS doesn't support Gazebo Harmonic natively. Options:
-
-1. **Docker** (recommended): Use Linux container
-2. **VM**: Use UTM or Parallels with Ubuntu
-3. **Standalone**: Run PyBullet-only simulation
-
-```bash
-# Install basic dependencies
-./setup/install_macos.sh
-
-# Use standalone simulation
-python standalone_simulation.py
-```
+- **GUI**: Windows 11 has WSLg built-in. Gazebo should work automatically.
+- **GPU**: Install [NVIDIA WSL driver](https://developer.nvidia.com/cuda/wsl) for GPU acceleration
+- **Performance**: Keep files in Linux filesystem (`~/`), not Windows (`/mnt/c/`)
+- **Memory**: WSL may need more RAM. Create `~/.wslconfig` in Windows:
+  ```ini
+  [wsl2]
+  memory=8GB
+  ```
 
 ## Arch Linux
 
@@ -83,46 +76,51 @@ python standalone_simulation.py
 source ~/.bashrc
 ```
 
+## macOS
+
+macOS doesn't support Gazebo Harmonic. Options:
+
+1. **Docker**: Run Linux in container
+2. **VM**: Use UTM/Parallels with Ubuntu
+3. **Basic**: PyBullet-only simulation
+
+```bash
+./setup/install_macos.sh
+```
+
 ## Verify Installation
 
 ```bash
-# Check ArduPilot
+# Check ArduPilot virtual environment
 source ~/venv-ardupilot/bin/activate
-python -c "import em; print('empy OK')"
-sim_vehicle.py --help
+python -c "import em; print('empy: OK')"
+which sim_vehicle.py
 
 # Check Gazebo
 gz sim --version
+
+# Check ArduPilot plugin
 ls ~/ardupilot_gazebo/build/libArduPilotPlugin.so
 ```
 
-## Post-Installation
-
-### Environment Setup
-
-The installer creates `activate.sh` in the project root:
+## First Run
 
+### Terminal 1 - Gazebo
 ```bash
 cd ~/RDC_Simulation
-source activate.sh
-```
-
-This sources:
-- ROS 2 (if installed)
-- ArduPilot virtual environment
-- Gazebo paths
-
-### First Run
-
-```bash
-# Terminal 1: Start Gazebo
 ./scripts/run_ardupilot_sim.sh runway
+```
+Wait for the drone to appear!
 
-# Terminal 2: Start SITL (after Gazebo loads)
+### Terminal 2 - SITL
+```bash
 source ~/venv-ardupilot/bin/activate
 sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
+```
+Wait for "JSON received:" messages.
 
-# Terminal 3: Run controller
+### Terminal 3 - Controller
+```bash
 source ~/venv-ardupilot/bin/activate
 cd ~/RDC_Simulation
 python scripts/run_ardupilot.py --pattern square
@@ -137,30 +135,29 @@ source ~/venv-ardupilot/bin/activate
 pip install empy==3.3.4
 ```
 
-### "No JSON sensor message"
-
-SITL isn't receiving data from Gazebo.
-- Start Gazebo FIRST
-- Wait for it to fully load
-- Then start SITL
-
 ### "sim_vehicle.py not found"
 
 ```bash
 source ~/.ardupilot_env
-# OR
+# Or add to PATH manually:
 export PATH=$PATH:~/ardupilot/Tools/autotest
 ```
 
-### Gazebo crashes / slow
+### "No JSON sensor message"
+
+SITL isn't receiving data from Gazebo.
+- Start Gazebo FIRST
+- Wait for world to fully load
+- Then start SITL
+
+### Gazebo crashes or slow
 
 ```bash
 # Check GPU
 glxinfo | grep "OpenGL renderer"
 
-# Try software rendering (slow but works)
+# Force software rendering (slow but works)
 export LIBGL_ALWAYS_SOFTWARE=1
-gz sim -v4 -r ~/ardupilot_gazebo/worlds/iris_runway.sdf
 ```
 
 ### WSL: Display not working
@@ -169,6 +166,14 @@ gz sim -v4 -r ~/ardupilot_gazebo/worlds/iris_runway.sdf
 # Check WSLg
 ls /mnt/wslg
 
-# If missing, update WSL
+# Update WSL if missing
 wsl --update
 ```
+
+### ArduPlane instead of ArduCopter
+
+If mode list shows FBWA, FBWB (plane modes):
+```bash
+pkill -9 -f sim_vehicle
+sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --wipe-eeprom
+```
diff --git a/scripts/run_ardupilot_controller.sh b/scripts/run_ardupilot_controller.sh
index 5caac5b..436947f 100755
--- a/scripts/run_ardupilot_controller.sh
+++ b/scripts/run_ardupilot_controller.sh
@@ -6,7 +6,7 @@
 # Run Gazebo FIRST in another terminal!
 #
 # Usage:
-#   Terminal 1: ./scripts/run_ardupilot_sim.sh
+#   Terminal 1: ./scripts/run_ardupilot_sim.sh runway
 #   Terminal 2: ./scripts/run_ardupilot_controller.sh --pattern square
 # =============================================================================
 
@@ -15,6 +15,10 @@ set -e
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
 
+# =============================================================================
+# ENVIRONMENT SETUP
+# =============================================================================
+
 # Deactivate any existing venv
 if [ -n "$VIRTUAL_ENV" ]; then
     deactivate 2>/dev/null || true
@@ -34,7 +38,10 @@ echo "  ArduPilot SITL + Controller"
 echo "=============================================="
 echo ""
 
-# Check sim_vehicle.py
+# =============================================================================
+# CHECKS
+# =============================================================================
+
 if ! command -v sim_vehicle.py &> /dev/null; then
     echo "[ERROR] sim_vehicle.py not found"
     echo ""
@@ -43,7 +50,6 @@ if ! command -v sim_vehicle.py &> /dev/null; then
     exit 1
 fi
 
-# Check empy
 if ! python3 -c "import em" 2>/dev/null; then
     echo "[ERROR] empy not found"
     echo ""
@@ -52,13 +58,18 @@ if ! python3 -c "import em" 2>/dev/null; then
 fi
 
 echo "[OK] Environment ready"
+echo "[INFO] Python: $(which python3)"
 echo ""
 
-# Start SITL with console
-echo "[INFO] Starting SITL..."
+# =============================================================================
+# START SITL
+# =============================================================================
+
+echo "[INFO] Starting ArduCopter SITL..."
 echo "[INFO] Make sure Gazebo is running first!"
 echo ""
 
+cd ~/ardupilot
 sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console &
 SITL_PID=$!
 
@@ -68,32 +79,42 @@ TRIES=0
 while ! nc -z 127.0.0.1 5760 2>/dev/null; do
     sleep 1
     TRIES=$((TRIES + 1))
-    if [ $TRIES -ge 60 ]; then
-        echo "[ERROR] SITL timeout"
+    if [ $TRIES -ge 90 ]; then
+        echo ""
+        echo "[ERROR] SITL timeout (90s)"
         kill $SITL_PID 2>/dev/null || true
         exit 1
     fi
     if ! kill -0 $SITL_PID 2>/dev/null; then
-        echo "[ERROR] SITL died - is Gazebo running?"
+        echo ""
+        echo "[ERROR] SITL process died"
+        echo "[TIP] Is Gazebo running? Start it first with:"
+        echo "      ./scripts/run_ardupilot_sim.sh runway"
         exit 1
     fi
     echo -n "."
 done
 echo ""
-echo "[OK] SITL ready"
+echo "[OK] SITL ready on port 5760"
 echo ""
 
-# Cleanup on exit
-trap "echo ''; echo '[INFO] Stopping...'; kill $SITL_PID 2>/dev/null; exit 0" INT TERM
+# =============================================================================
+# CLEANUP
+# =============================================================================
 
-# Wait a moment for SITL to stabilize
-sleep 2
+trap "echo ''; echo '[INFO] Stopping SITL...'; kill $SITL_PID 2>/dev/null; exit 0" INT TERM
 
-# Run the controller
-echo "[INFO] Starting flight controller..."
+# Wait for SITL to stabilize
+sleep 3
+
+# =============================================================================
+# RUN CONTROLLER
+# =============================================================================
+
+echo "[INFO] Starting drone controller..."
 echo ""
 cd "$PROJECT_DIR"
 python scripts/run_ardupilot.py "$@"
 
 # Cleanup
-kill $SITL_PID 2>/dev/null
+kill $SITL_PID 2>/dev/null || true
diff --git a/scripts/run_ardupilot_sim.sh b/scripts/run_ardupilot_sim.sh
index f446f48..96b9279 100755
--- a/scripts/run_ardupilot_sim.sh
+++ b/scripts/run_ardupilot_sim.sh
@@ -2,8 +2,8 @@
 # =============================================================================
 # ArduPilot Gazebo Simulation Launcher
 # =============================================================================
-# Launches Gazebo with the ArduPilot iris drone model.
-# Start this FIRST, then run SITL in another terminal.
+# Launches Gazebo with the ArduPilot iris drone.
+# START THIS FIRST, then run SITL in another terminal.
 #
 # Usage: 
 #   ./scripts/run_ardupilot_sim.sh           # Default runway
@@ -17,7 +17,6 @@ echo "  Gazebo + ArduPilot Simulation"
 echo "=============================================="
 echo ""
 
-# Get script directory
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
 
@@ -53,14 +52,19 @@ export GZ_SIM_RESOURCE_PATH="${PROJECT_DIR}/gazebo/models:${GZ_SIM_RESOURCE_PATH
 # CHECK INSTALLATION
 # =============================================================================
 if [ ! -d "${HOME}/ardupilot_gazebo" ]; then
-    echo "[ERROR] ardupilot_gazebo not found!"
-    echo "Run: ./setup/install_ardupilot.sh"
+    echo "[ERROR] ardupilot_gazebo directory not found!"
+    echo ""
+    echo "Install with: ./setup/install_ardupilot.sh"
     exit 1
 fi
 
 if [ ! -f "${HOME}/ardupilot_gazebo/build/libArduPilotPlugin.so" ]; then
-    echo "[ERROR] ArduPilot plugin not built!"
-    echo "Run: cd ~/ardupilot_gazebo && mkdir -p build && cd build && cmake .. && make -j4"
+    echo "[ERROR] ArduPilot Gazebo plugin not built!"
+    echo ""
+    echo "Build it:"
+    echo "  cd ~/ardupilot_gazebo"
+    echo "  mkdir -p build && cd build"
+    echo "  cmake .. && make -j4"
     exit 1
 fi
 
@@ -92,22 +96,22 @@ case "$WORLD_ARG" in
         ;;
 esac
 
-echo "[INFO] World: $(basename "$WORLD")"
+echo "[OK] World: $(basename "$WORLD")"
 echo ""
 
 # =============================================================================
 # INSTRUCTIONS
 # =============================================================================
 echo "=============================================="
-echo "  STEP 1: Gazebo Starting..."
+echo "  NEXT STEPS"
 echo "=============================================="
 echo ""
-echo "After Gazebo loads, run SITL in another terminal:"
+echo "After Gazebo loads, open a NEW terminal and run:"
 echo ""
 echo "  source ~/venv-ardupilot/bin/activate"
 echo "  sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console"
 echo ""
-echo "Then run the flight controller:"
+echo "Then open ANOTHER terminal to run the controller:"
 echo ""
 echo "  source ~/venv-ardupilot/bin/activate"
 echo "  cd ~/RDC_Simulation"
@@ -115,6 +119,7 @@ echo "  python scripts/run_ardupilot.py --pattern square"
 echo ""
 echo "=============================================="
 echo ""
+echo "[INFO] Starting Gazebo..."
 
 # =============================================================================
 # RUN GAZEBO