Ardupilot Update

docs/installation.md

@@ -7,6 +7,7 @@ Setup instructions for all supported platforms.
 | Platform | Command |
 |----------|---------|
 | Ubuntu/Debian | `./setup/install_ubuntu.sh` |
+| Ubuntu + ArduPilot | `./setup/install_ubuntu.sh --with-ardupilot` |
 | Arch Linux | `./setup/install_arch.sh` |
 | macOS | `./setup/install_macos.sh` |
 | Windows | `.\setup\install_windows.ps1` |
@@ -28,6 +29,7 @@ python standalone_simulation.py
 | **Standalone Simulation** | ✅ | ✅ | ✅ | ✅ | ✅ |
 | **ROS 2** | ✅ | ⚠️ AUR | ❌ | ❌ | ✅ |
 | **Gazebo** | ✅ | ⚠️ AUR | ❌ | ❌ | ✅ |
+| **ArduPilot SITL** | ✅ | ⚠️ Manual | ❌ | ❌ | ✅ |
 | **Full Mode** | ✅ | ⚠️ | ❌ | ❌ | ✅ |
 | **GUI Support** | ✅ | ✅ | ✅ | ✅ | ✅ WSLg |
 
@@ -58,7 +60,18 @@ python standalone_simulation.py
 **Installs:**
 - ROS 2 (Humble or Jazzy based on Ubuntu version)
 - Gazebo (ros-gz)
-- Python packages: pybullet, numpy, pillow, pyinstaller
+- Python packages: pybullet, numpy, pillow, pyinstaller, pymavlink
+
+**With ArduPilot SITL (full flight controller):**
+```bash
+# Run installer with ArduPilot
+./setup/install_ubuntu.sh --with-ardupilot
+
+# This will also install:
+# - ArduPilot SITL (~15-20 min build)
+# - ArduPilot Gazebo plugin
+# - MAVProxy
+```
 
 ---
 
@@ -407,6 +420,84 @@ After installation, verify packages:
 python -c "import pybullet; print('PyBullet OK')"
 python -c "import numpy; print('NumPy OK')"
 python -c "from PIL import Image; print('Pillow OK')"
+python -c "from pymavlink import mavutil; print('pymavlink OK')"
 ```
 
 All should print "OK".
+
+---
+
+## ArduPilot SITL Manual Setup
+
+If you want to install ArduPilot SITL manually (without the install script):
+
+### 1. Install ArduPilot
+
+```bash
+# Clone ArduPilot
+git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git ~/ardupilot
+cd ~/ardupilot
+
+# Install prerequisites (Ubuntu)
+Tools/environment_install/install-prereqs-ubuntu.sh -y
+
+# Reload profile
+. ~/.profile
+
+# Build ArduCopter SITL
+./waf configure --board sitl
+./waf copter
+```
+
+### 2. Install ArduPilot Gazebo Plugin
+
+```bash
+# Clone plugin
+git clone https://github.com/ArduPilot/ardupilot_gazebo.git ~/ardupilot_gazebo
+cd ~/ardupilot_gazebo
+
+# Build
+mkdir build && cd build
+cmake .. -DCMAKE_BUILD_TYPE=Release
+make -j$(nproc)
+```
+
+### 3. Set Environment Variables
+
+Add to `~/.bashrc`:
+
+```bash
+# ArduPilot
+export ARDUPILOT_HOME=$HOME/ardupilot
+export PATH=$PATH:$ARDUPILOT_HOME/Tools/autotest
+
+# ArduPilot Gazebo Plugin
+export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH
+export GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH
+```
+
+### 4. Test SITL
+
+```bash
+# Test ArduCopter SITL
+cd ~/ardupilot
+sim_vehicle.py -v ArduCopter --console --map
+```
+
+### 5. Run with Gazebo
+
+```bash
+# Terminal 1: Launch Gazebo
+ros2 launch gazebo/launch/ardupilot_drone.launch.py
+
+# Terminal 2: Start SITL
+cd ~/ardupilot
+sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
+
+# Terminal 3: Run controllers
+cd ~/simulation
+source activate.sh
+python run_ardupilot.py --no-sitl --pattern circular
+```
+
+For more details, see [ArduPilot Guide](ardupilot.md).