diff --git a/setup/install_ubuntu.sh b/setup/install_ubuntu.sh
index 58114a1..3874cf7 100755
--- a/setup/install_ubuntu.sh
+++ b/setup/install_ubuntu.sh
@@ -48,10 +48,10 @@ for arg in "$@"; do
 done
 
 if [ "$INSTALL_ARDUPILOT" = true ]; then
-    TOTAL_STEPS=10
+    TOTAL_STEPS=9
     echo "[INFO] Full installation with ArduPilot SITL"
 else
-    TOTAL_STEPS=7
+    TOTAL_STEPS=6
     echo "[INFO] Basic installation (no ArduPilot)"
 fi
 echo ""
@@ -317,33 +317,6 @@ if [ "$INSTALL_ARDUPILOT" = true ]; then
     make -j$(nproc)
     
     echo "[OK] ArduPilot Gazebo plugin built"
-
-    # =========================================================================
-    # STEP 10: Configure Environment
-    # =========================================================================
-    echo ""
-    echo "[STEP 10/$TOTAL_STEPS] Configuring shell environment..."
-    
-    BASHRC_MARKER="# === RDC Simulation ArduPilot ==="
-    
-    if ! grep -q "$BASHRC_MARKER" ~/.bashrc; then
-        cat >> ~/.bashrc << EOF
-
-$BASHRC_MARKER
-# Source ArduPilot environment
-if [ -f ~/.ardupilot_env ]; then
-    source ~/.ardupilot_env
-fi
-export ARDUPILOT_HOME=$ARDUPILOT_HOME
-export PATH=\$PATH:$ARDUPILOT_HOME/Tools/autotest
-export PATH=\$PATH:\$HOME/.local/bin
-export GZ_SIM_SYSTEM_PLUGIN_PATH=$ARDUPILOT_GZ/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH
-export GZ_SIM_RESOURCE_PATH=$ARDUPILOT_GZ/models:$ARDUPILOT_GZ/worlds:\$GZ_SIM_RESOURCE_PATH
-EOF
-        echo "[OK] Added ArduPilot configuration to ~/.bashrc"
-    else
-        echo "[OK] ArduPilot configuration already in ~/.bashrc"
-    fi
     
     # Install MAVProxy
     pip3 install --user pymavlink mavproxy pexpect
@@ -352,7 +325,6 @@ EOF
     echo ""
     echo "Verifying ArduPilot installation..."
     
-    source ~/.bashrc 2>/dev/null || true
     export PATH=$PATH:$ARDUPILOT_HOME/Tools/autotest:$HOME/.local/bin
     
     command -v sim_vehicle.py &> /dev/null && echo "[OK] sim_vehicle.py" || echo "[WARN] sim_vehicle.py not found"
@@ -371,17 +343,16 @@ echo "=============================================="
 echo ""
 
 if [ "$INSTALL_ARDUPILOT" = true ]; then
-    echo "IMPORTANT: Run this command to reload your environment:"
-    echo "  source ~/.bashrc"
-    echo ""
     echo "Quick Start (3 terminals):"
     echo ""
     echo "Terminal 1 - Start Gazebo:"
     echo "  cd ~/RDC_Simulation"
+    echo "  source activate.sh"
     echo "  ./scripts/run_ardupilot_sim.sh runway"
     echo ""
     echo "Terminal 2 - Start ArduCopter SITL:"
-    echo "  source ~/.bashrc"
+    echo "  cd ~/RDC_Simulation"
+    echo "  source activate.sh"
     echo "  sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console"
     echo ""
     echo "Terminal 3 - Run Controller:"
diff --git a/setup/uninstall.sh b/setup/uninstall.sh
index edce3a4..0cb06f4 100755
--- a/setup/uninstall.sh
+++ b/setup/uninstall.sh
@@ -56,7 +56,7 @@ for arg in "$@"; do
             echo "  - ~/ardupilot_gazebo (ArduPilot Gazebo plugin)"
             echo "  - Project venv/ directory"
             echo "  - Project activate.sh"
-            echo "  - ArduPilot configuration from ~/.bashrc"
+            echo "  - ~/.ardupilot_env (ArduPilot environment file)"
             echo ""
             echo "What is NOT removed:"
             echo "  - ROS 2 (use: sudo apt remove 'ros-*')"
@@ -139,30 +139,7 @@ remove_activate() {
     fi
 }
 
-# =============================================================================
-# REMOVE BASHRC CONFIGURATION
-# =============================================================================
-remove_bashrc_config() {
-    BASHRC_MARKER="# === RDC Simulation ArduPilot ==="
-    OLD_MARKER="# === ArduPilot SITL ==="
-    
-    if grep -q "$BASHRC_MARKER" ~/.bashrc 2>/dev/null || grep -q "$OLD_MARKER" ~/.bashrc 2>/dev/null; then
-        echo "[INFO] Removing ArduPilot configuration from ~/.bashrc"
-        
-        # Create backup
-        cp ~/.bashrc ~/.bashrc.backup.$(date +%Y%m%d_%H%M%S)
-        
-        # Remove the configuration block (everything from marker to next blank line or EOF)
-        # This handles both old and new markers
-        sed -i "/$BASHRC_MARKER/,/^$/d" ~/.bashrc 2>/dev/null || true
-        sed -i "/$OLD_MARKER/,/^$/d" ~/.bashrc 2>/dev/null || true
-        
-        echo "[OK] ArduPilot configuration removed from ~/.bashrc"
-        echo "[INFO] Backup saved to ~/.bashrc.backup.*"
-    else
-        echo "[SKIP] No ArduPilot configuration found in ~/.bashrc"
-    fi
-}
+
 
 # =============================================================================
 # REMOVE ARDUPILOT ENV FILE
@@ -188,7 +165,6 @@ if [ "$REMOVE_ALL" = true ]; then
     remove_ardupilot_gazebo
     remove_venv
     remove_activate
-    remove_bashrc_config
     remove_ardupilot_env
     
 elif [ "$REMOVE_ARDUPILOT" = true ]; then
@@ -196,7 +172,6 @@ elif [ "$REMOVE_ARDUPILOT" = true ]; then
     echo ""
     remove_ardupilot
     remove_ardupilot_gazebo
-    remove_bashrc_config
     remove_ardupilot_env
     
 else
@@ -231,8 +206,7 @@ else
         remove_activate
     fi
     
-    if ask_yes_no "Remove ArduPilot configuration from ~/.bashrc?"; then
-        remove_bashrc_config
+    if ask_yes_no "Remove ArduPilot environment file (~/.ardupilot_env)?"; then
         remove_ardupilot_env
     fi
 fi