Ardupilot Install Script Fix 2

docs/architecture.md

@@ -2,9 +2,7 @@
 
 ## Operation Modes
 
-### 1. Standalone (Any Platform)
-
-Single process, no ROS 2 required:
+### 1. Standalone (Any Platform, 1 Terminal)
 
 ```bash
 python standalone_simulation.py --pattern circular
@@ -13,11 +11,7 @@ python standalone_simulation.py --pattern circular
 ```
 ┌────────────────────────────────────────┐
 │      standalone_simulation.py          │
-│  ┌──────────────────────────────────┐  │
-│  │  PyBullet Physics + Camera       │  │
-│  │  Built-in Controller             │  │
-│  │  Rover Movement                  │  │
-│  └──────────────────────────────────┘  │
+│  PyBullet Physics + Camera + Controllers│
 └────────────────────────────────────────┘
 ```
 
@@ -41,54 +35,55 @@ Terminal 1                    Terminal 2
 └───────────────────┘        └───────────────────┘
 ```
 
-### 3. ArduPilot SITL (2 Terminals)
+### 3. ArduPilot SITL + Gazebo (2 Terminals)
 
 **Terminal 1:**
 ```bash
-ros2 launch ardupilot_gz_bringup iris_runway.launch.py
+gz sim -v4 -r ~/ardupilot_gazebo/worlds/iris_runway.sdf
 ```
 
 **Terminal 2:**
 ```bash
-mavproxy.py --console --map --master=:14550
+sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
 ```
 
 ```
-┌─────────────────────────────────────────────┐
-│        Single Launch Command                │
-│   (Starts SITL + Gazebo + RViz)            │
-├─────────────────────────────────────────────┤
-│  ArduPilot SITL ◄──► Gazebo ◄──► ROS 2     │
-│       ▲                                     │
-│       │ /ap/* topics                        │
-│       ▼                                     │
-│  MAVProxy (GCS)                            │
-└─────────────────────────────────────────────┘
+Terminal 1                    Terminal 2
+┌───────────────────┐        ┌───────────────────┐
+│ Gazebo +          │◄──────►│ ArduPilot SITL    │
+│ ArduPilot Plugin  │  JSON  │ + MAVProxy        │
+└───────────────────┘  UDP   └───────────────────┘
 ```
 
+**Key features:**
+- Full ArduPilot flight controller
+- EKF, stabilization, failsafes
+- MAVLink protocol
+- Compatible with QGroundControl, Mission Planner
+
 ## Key Components
 
 | Component | Description |
 |-----------|-------------|
+| `standalone_simulation.py` | All-in-one PyBullet simulation |
+| `run_gazebo.py` | Gazebo bridge + controllers |
 | `drone_controller.py` | Your landing algorithm |
-| `gazebo_bridge.py` | Gazebo ↔ ROS bridge |
-| `mavlink_bridge.py` | MAVLink commands |
-| `camera_viewer.py` | Camera display |
+| `camera_viewer.py` | Camera display window |
 
-## ROS 2 Topics
+## ROS 2 Topics (Gazebo Mode)
 
 | Topic | Direction | Description |
 |-------|-----------|-------------|
 | `/drone/telemetry` | ← | Sensor data (JSON) |
 | `/cmd_vel` | → | Velocity commands |
 | `/drone/camera` | ← | Camera images |
-| `/rover/telemetry` | ← | Landing pad position |
 
-## ArduPilot Topics
+## Sensors
 
-| Topic | Type |
-|-------|------|
-| `/ap/pose/filtered` | Position |
-| `/ap/twist/filtered` | Velocity |
-| `/ap/imu/filtered` | IMU |
-| `/ap/battery` | Battery |
+| Sensor | Data |
+|--------|------|
+| IMU | orientation, angular_velocity |
+| Altimeter | altitude, vertical_velocity |
+| Velocity | x, y, z (m/s) |
+| Camera | 320x240 image |
+| Landing Pad | relative_x, relative_y (when visible) |