run script Fixes 2

docs/ardupilot.md

@@ -6,7 +6,7 @@ Realistic flight controller simulation without GPS.
 
 **Terminal 1:**
 ```bash
-./scripts/run_ardupilot_sim.sh camera
+./scripts/run_ardupilot_sim.sh runway
 ```
 
 **Terminal 2:**
@@ -26,56 +26,40 @@ arm throttle force
 source ~/.bashrc
 ```
 
-Installs: ArduPilot SITL, Gazebo, ardupilot_gazebo plugin, MAVProxy
+## World Options
+
+```bash
+./scripts/run_ardupilot_sim.sh runway     # Iris on runway (default)
+./scripts/run_ardupilot_sim.sh warehouse  # Iris in warehouse
+./scripts/run_ardupilot_sim.sh zephyr     # Zephyr plane
+./scripts/run_ardupilot_sim.sh gimbal     # Gimbal test
+./scripts/run_ardupilot_sim.sh parachute  # Parachute test
+```
 
 ## GPS-Denied Configuration
 
 In MAVProxy console:
 
 ```bash
-# Disable all pre-arm checks
-param set ARMING_CHECK 0
-
-# GPS-free flight modes
-mode stabilize      # Manual with stabilization
-mode alt_hold       # Altitude hold
-mode guided_nogps   # Guided without GPS
+param set ARMING_CHECK 0   # Disable pre-arm checks
+mode stabilize             # Manual with stabilization
+arm throttle force         # Force arm
 ```
 
 ## GPU Support
 
-The launcher auto-detects your GPU:
+Auto-detects: NVIDIA > Intel > AMD > Software
 
-| GPU | Status |
-|-----|--------|
-| NVIDIA | Best performance |
-| Intel integrated | Good for laptops |
-| AMD | Good performance |
-| Software | Works but slow |
-
-## Camera Feed
-
-### In Gazebo GUI
-Click camera icon → Select drone camera
-
-### Using camera_viewer
+Check your GPU:
 ```bash
-ros2 run ros_gz_bridge parameter_bridge /drone/camera@sensor_msgs/msg/Image[gz.msgs.Image
-python camera_viewer.py --topic /drone/camera
-```
-
-## World Options
-
-```bash
-./scripts/run_ardupilot_sim.sh runway   # Default
-./scripts/run_ardupilot_sim.sh camera   # With camera
+glxinfo | grep "OpenGL renderer"
 ```
 
 ## MAVProxy Commands
 
 ```bash
 mode stabilize     # Manual mode
-mode guided_nogps  # Autonomous (no GPS)
+mode alt_hold      # Altitude hold
 arm throttle force # Arm motors
 takeoff 5          # Takeoff 5m
 mode land          # Land
@@ -83,17 +67,26 @@ mode land          # Land
 
 ## Troubleshooting
 
+### "No JSON sensor message"
+
+Gazebo isn't sending data to SITL. Check:
+1. Start Gazebo FIRST, then SITL
+2. Plugin path is set:
+```bash
+echo $GZ_SIM_SYSTEM_PLUGIN_PATH | grep ardupilot
+```
+
 ### Simulation laggy
+
+Check GPU is being used (not software):
 ```bash
 glxinfo | grep "OpenGL renderer"
-# Should show GPU, not "llvmpipe"
+# Should NOT show "llvmpipe"
 ```
 
 ### Can't arm
+
 ```bash
 param set ARMING_CHECK 0
 arm throttle force
 ```
-
-### No camera
-Use `./scripts/run_ardupilot_sim.sh camera` for camera world.