Ardupilot Update

README.md

@@ -1,6 +1,9 @@
 # Drone Landing Simulation (GPS-Denied)
 
-A GPS-denied drone landing simulation using relative sensors (IMU, altimeter, camera, landing pad detection) with **PyBullet** and **Gazebo** simulators.
+A GPS-denied drone landing simulation using relative sensors (IMU, altimeter, camera, landing pad detection) with multiple backends:
+- **PyBullet** - Lightweight physics simulation
+- **Gazebo** - Full robotics simulator
+- **ArduPilot SITL** - Realistic flight controller with MAVProxy
 
 ## Quick Start
 
@@ -37,6 +40,24 @@ ros2 launch gazebo/launch/drone_landing.launch.py
 python run_gazebo.py --pattern circular --speed 0.3
 ```
 
+### ArduPilot SITL + Gazebo (Three Terminals - Realistic Flight Controller)
+
+**Terminal 1 - Launch Gazebo with ArduPilot world:**
+```bash
+ros2 launch gazebo/launch/ardupilot_drone.launch.py
+```
+
+**Terminal 2 - Start ArduPilot SITL:**
+```bash
+cd ~/ardupilot
+sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
+```
+
+**Terminal 3 - Run MAVLink Bridge + Controllers:**
+```bash
+python run_ardupilot.py --no-sitl --pattern circular
+```
+
 ## Installation
 
 | Platform | Command |
@@ -53,6 +74,7 @@ python run_gazebo.py --pattern circular --speed 0.3
 | Standalone | ✅ | ✅ | ✅ | ✅ | ✅ |
 | PyBullet + ROS 2 | ✅ | ⚠️ | ❌ | ❌ | ✅ |
 | Gazebo + ROS 2 | ✅ | ⚠️ | ❌ | ❌ | ✅ |
+| ArduPilot + Gazebo | ✅ | ⚠️ | ❌ | ❌ | ✅ |
 
 ## Files
 
@@ -62,6 +84,8 @@ python run_gazebo.py --pattern circular --speed 0.3
 | `simulation_host.py` | PyBullet simulator server |
 | `run_bridge.py` | PyBullet bridge + Controllers |
 | `run_gazebo.py` | Gazebo bridge + Controllers |
+| `run_ardupilot.py` | **ArduPilot SITL** + MAVLink bridge |
+| `mavlink_bridge.py` | MAVLink ↔ ROS 2 bridge |
 | `config.py` | **Configuration file** (edit to customize) |
 | `drone_controller.py` | **Your landing algorithm** (edit this!) |
 | `rover_controller.py` | Moving landing pad controller |
@@ -111,6 +135,7 @@ Options:
 | [Architecture](docs/architecture.md) | System components diagram |
 | [Gazebo Guide](docs/gazebo.md) | Gazebo-specific instructions |
 | [PyBullet Guide](docs/pybullet.md) | PyBullet-specific instructions |
+| [ArduPilot Guide](docs/ardupilot.md) | **ArduPilot SITL + MAVProxy** |
 | [Protocol](docs/protocol.md) | Sensor data formats |
 | [Drone Guide](docs/drone_guide.md) | Landing algorithm guide |