diff --git a/README.md b/README.md
index 2b59963..22ba718 100644
--- a/README.md
+++ b/README.md
@@ -34,15 +34,15 @@ cd ~/RDC_Simulation
 
 **Terminal 2 - Start ArduCopter SITL:**
 ```bash
-source ~/venv-ardupilot/bin/activate
+source ~/.ardupilot_env
 sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
 # Wait for "JSON received:" messages (shows Gazebo is connected)
 ```
 
 **Terminal 3 - Run Controller:**
 ```bash
-source ~/venv-ardupilot/bin/activate
 cd ~/RDC_Simulation
+source activate.sh
 python scripts/run_ardupilot.py --pattern square
 ```
 
@@ -96,7 +96,7 @@ Gazebo isn't sending data to SITL.
 ### "empy not found" or wrong Python
 Wrong virtual environment.
 ```bash
-source ~/venv-ardupilot/bin/activate
+source ~/.ardupilot_env
 pip install empy==3.3.4
 ```
 
diff --git a/docs/ardupilot.md b/docs/ardupilot.md
index b201dda..08b6725 100644
--- a/docs/ardupilot.md
+++ b/docs/ardupilot.md
@@ -25,7 +25,7 @@ Wait until the drone appears in the 3D view!
 ### Terminal 2: Start ArduCopter SITL
 
 ```bash
-source ~/venv-ardupilot/bin/activate
+source ~/.ardupilot_env
 sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
 ```
 
@@ -36,8 +36,8 @@ You should see:
 ### Terminal 3: Run Controller
 
 ```bash
-source ~/venv-ardupilot/bin/activate
 cd ~/RDC_Simulation
+source activate.sh
 python scripts/run_ardupilot.py --pattern square
 ```
 
diff --git a/docs/drone_guide.md b/docs/drone_guide.md
index 35d44bc..e93a320 100644
--- a/docs/drone_guide.md
+++ b/docs/drone_guide.md
@@ -8,8 +8,8 @@ The `DroneController` class (`src/drone_controller.py`) provides a simple interf
 
 ```bash
 # Activate environment first
-source ~/venv-ardupilot/bin/activate
 cd ~/RDC_Simulation
+source activate.sh
 
 # Run flight patterns
 python scripts/run_ardupilot.py --pattern square
diff --git a/docs/installation.md b/docs/installation.md
index 2a1e591..910ce68 100644
--- a/docs/installation.md
+++ b/docs/installation.md
@@ -91,8 +91,8 @@ macOS doesn't support Gazebo Harmonic. Options:
 ## Verify Installation
 
 ```bash
-# Check ArduPilot virtual environment
-source ~/venv-ardupilot/bin/activate
+# Check ArduPilot environment
+source ~/.ardupilot_env
 python -c "import em; print('empy: OK')"
 which sim_vehicle.py
 
@@ -114,15 +114,15 @@ Wait for the drone to appear!
 
 ### Terminal 2 - SITL
 ```bash
-source ~/venv-ardupilot/bin/activate
+source ~/.ardupilot_env
 sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
 ```
 Wait for "JSON received:" messages.
 
 ### Terminal 3 - Controller
 ```bash
-source ~/venv-ardupilot/bin/activate
 cd ~/RDC_Simulation
+source activate.sh
 python scripts/run_ardupilot.py --pattern square
 ```
 
@@ -131,7 +131,7 @@ python scripts/run_ardupilot.py --pattern square
 ### "empy not found"
 
 ```bash
-source ~/venv-ardupilot/bin/activate
+source ~/.ardupilot_env
 pip install empy==3.3.4
 ```
 
diff --git a/scripts/run_ardupilot_controller.sh b/scripts/run_ardupilot_controller.sh
index 436947f..769921c 100755
--- a/scripts/run_ardupilot_controller.sh
+++ b/scripts/run_ardupilot_controller.sh
@@ -29,8 +29,9 @@ if [ -f "$HOME/.ardupilot_env" ]; then
     source "$HOME/.ardupilot_env"
 fi
 
-if [ -f "$HOME/venv-ardupilot/bin/activate" ]; then
-    source "$HOME/venv-ardupilot/bin/activate"
+# Activate project venv
+if [ -f "$PROJECT_DIR/venv/bin/activate" ]; then
+    source "$PROJECT_DIR/venv/bin/activate"
 fi
 
 echo "=============================================="
diff --git a/scripts/run_ardupilot_sim.sh b/scripts/run_ardupilot_sim.sh
index 96b9279..bb7830c 100755
--- a/scripts/run_ardupilot_sim.sh
+++ b/scripts/run_ardupilot_sim.sh
@@ -108,13 +108,13 @@ echo "=============================================="
 echo ""
 echo "After Gazebo loads, open a NEW terminal and run:"
 echo ""
-echo "  source ~/venv-ardupilot/bin/activate"
+echo "  source ~/.ardupilot_env"
 echo "  sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console"
 echo ""
 echo "Then open ANOTHER terminal to run the controller:"
 echo ""
-echo "  source ~/venv-ardupilot/bin/activate"
 echo "  cd ~/RDC_Simulation"
+echo "  source activate.sh"
 echo "  python scripts/run_ardupilot.py --pattern square"
 echo ""
 echo "=============================================="
diff --git a/scripts/run_flight_demo.sh b/scripts/run_flight_demo.sh
index e898782..228e369 100755
--- a/scripts/run_flight_demo.sh
+++ b/scripts/run_flight_demo.sh
@@ -58,8 +58,9 @@ if [ -f "$HOME/.ardupilot_env" ]; then
     source "$HOME/.ardupilot_env"
 fi
 
-if [ -f "$HOME/venv-ardupilot/bin/activate" ]; then
-    source "$HOME/venv-ardupilot/bin/activate"
+# Activate project venv
+if [ -f "$PROJECT_DIR/venv/bin/activate" ]; then
+    source "$PROJECT_DIR/venv/bin/activate"
 fi
 
 echo "=============================================="
diff --git a/setup/install_arch.sh b/setup/install_arch.sh
index 139ed50..5056fa1 100755
--- a/setup/install_arch.sh
+++ b/setup/install_arch.sh
@@ -134,13 +134,8 @@ if [ -n "$VIRTUAL_ENV" ]; then
     deactivate 2>/dev/null || true
 fi
 
-# Activate ArduPilot venv (has empy and other dependencies)
-# This is preferred over project venv for ArduPilot compatibility
-if [ -f "$HOME/venv-ardupilot/bin/activate" ]; then
-    source "$HOME/venv-ardupilot/bin/activate"
-    echo "[OK] ArduPilot venv"
-# Fallback to project venv only if ArduPilot not installed
-elif [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
+# Activate project venv
+if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
     source "$SCRIPT_DIR/venv/bin/activate"
     echo "[OK] Python venv activated"
 fi
@@ -193,12 +188,12 @@ echo "  cd ~/RDC_Simulation"
 echo "  ./scripts/run_ardupilot_sim.sh runway"
 echo ""
 echo "Terminal 2 - Start ArduCopter SITL:"
-echo "  source ~/venv-ardupilot/bin/activate"
+echo "  source ~/.ardupilot_env"
 echo "  sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console"
 echo ""
 echo "Terminal 3 - Run Controller:"
-echo "  source ~/venv-ardupilot/bin/activate"
 echo "  cd ~/RDC_Simulation"
+echo "  source activate.sh"
 echo "  python scripts/run_ardupilot.py --pattern square"
 echo ""
 echo "=============================================="
diff --git a/setup/install_ardupilot.sh b/setup/install_ardupilot.sh
index 01063dd..517bef6 100755
--- a/setup/install_ardupilot.sh
+++ b/setup/install_ardupilot.sh
@@ -67,13 +67,10 @@ cd "$ARDUPILOT_HOME"
 Tools/environment_install/install-prereqs-ubuntu.sh -y
 . ~/.profile || true
 
-# Source ArduPilot environment (includes venv with empy)
+# Source ArduPilot environment (created by install-prereqs-ubuntu.sh)
 if [ -f "$HOME/.ardupilot_env" ]; then
     source "$HOME/.ardupilot_env"
 fi
-if [ -f "$HOME/venv-ardupilot/bin/activate" ]; then
-    source "$HOME/venv-ardupilot/bin/activate"
-fi
 
 # Build ArduCopter SITL (without DDS to avoid complexity)
 ./waf configure --board sitl
diff --git a/setup/install_ubuntu.sh b/setup/install_ubuntu.sh
index bfde962..0498a3b 100755
--- a/setup/install_ubuntu.sh
+++ b/setup/install_ubuntu.sh
@@ -188,13 +188,8 @@ if [ -n "$VIRTUAL_ENV" ]; then
     deactivate 2>/dev/null || true
 fi
 
-# Activate ArduPilot venv (has empy and other dependencies)
-# This is preferred over project venv for ArduPilot compatibility
-if [ -f "$HOME/venv-ardupilot/bin/activate" ]; then
-    source "$HOME/venv-ardupilot/bin/activate"
-    echo "[OK] ArduPilot venv"
-# Fallback to project venv only if ArduPilot not installed
-elif [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
+# Activate project venv
+if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
     source "$SCRIPT_DIR/venv/bin/activate"
     echo "[OK] Python venv"
 fi
@@ -241,10 +236,10 @@ if [ "$INSTALL_ARDUPILOT" = true ]; then
     echo ""
     echo "[INFO] Installing ArduPilot SITL..."
     
-    if [ -f "$SCRIPT_DIR/setup/install_ardupilot.sh" ]; then
-        bash "$SCRIPT_DIR/setup/install_ardupilot.sh"
+    if [ -f "$SCRIPT_DIR/install_ardupilot.sh" ]; then
+        bash "$SCRIPT_DIR/install_ardupilot.sh"
     else
-        echo "[ERROR] install_ardupilot.sh not found!"
+        echo "[ERROR] install_ardupilot.sh not found at $SCRIPT_DIR/"
     fi
 fi
 
@@ -260,12 +255,12 @@ echo "  cd ~/RDC_Simulation"
 echo "  ./scripts/run_ardupilot_sim.sh runway"
 echo ""
 echo "Terminal 2 - Start ArduCopter SITL:"
-echo "  source ~/venv-ardupilot/bin/activate"
+echo "  source ~/.ardupilot_env"
 echo "  sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console"
 echo ""
 echo "Terminal 3 - Run Controller:"
-echo "  source ~/venv-ardupilot/bin/activate"
 echo "  cd ~/RDC_Simulation"
+echo "  source activate.sh"
 echo "  python scripts/run_ardupilot.py --pattern square"
 echo ""
 if [ "$INSTALL_ARDUPILOT" != true ]; then