docs: Improve quick start, ArduPilot setup, and troubleshooting, and add GPS mode option.

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