diff --git a/docker-compose.yml b/docker-compose.yml
index df96d06..8bf16b0 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -1,21 +1,21 @@
 # =============================================================================
-# RDC Simulation - Docker Compose (GPU-enabled, Wayland, Multi-Service)
+# RDC Simulation - Docker Compose (Multi-Service with Proper Ordering)
 # =============================================================================
-# Runs the complete simulation stack with 3 services:
-#   1. gazebo    - Gazebo Harmonic simulation
-#   2. sitl      - ArduPilot SITL (ArduCopter)
-#   3. controller - Python flight controller
+# Runs 3 services in order:
+#   1. gazebo    - Gazebo Harmonic simulation (starts first)
+#   2. sitl      - ArduPilot SITL (waits for Gazebo)
+#   3. controller - Python flight controller (waits for SITL)
 #
 # Usage:
-#   # Start all services
+#   # Start all 3 services
 #   docker compose up
 #
-#   # Or start individually
+#   # Or start specific services
 #   docker compose up gazebo
-#   docker compose up sitl
-#   docker compose up controller
+#   docker compose up gazebo sitl
+#   docker compose up gazebo sitl controller
 #
-#   # Interactive shell
+#   # Interactive shell (for debugging)
 #   docker compose run --rm simulation bash
 #
 #   # Stop everything
@@ -49,7 +49,7 @@ x-common: &common
     # GPU
     - NVIDIA_VISIBLE_DEVICES=all
     - NVIDIA_DRIVER_CAPABILITIES=all
-    # Qt platform - Wayland first, then X11
+    # Qt platform - Wayland
     - QT_QPA_PLATFORM=wayland
     - QT_WAYLAND_DISABLE_WINDOWDECORATION=1
     # OpenGL settings
@@ -61,17 +61,14 @@ x-common: &common
 
   # Mount Wayland and X11 sockets
   volumes:
-    # Wayland socket
     - ${XDG_RUNTIME_DIR:-/run/user/1000}/${WAYLAND_DISPLAY:-wayland-0}:/run/user/1000/wayland-0:rw
-    # X11 socket (for XWayland fallback)
     - /tmp/.X11-unix:/tmp/.X11-unix:rw
-    # GPU device
     - /dev/dri:/dev/dri:rw
 
-  # Network mode for SITL communication (all services share host network)
+  # Host network for SITL <-> Gazebo communication
   network_mode: host
 
-  # Run as user with access to Wayland socket
+  # Run as user 1000
   user: "1000:1000"
 
   stdin_open: true
@@ -80,16 +77,7 @@ x-common: &common
 
 services:
   # =========================================================================
-  # Interactive Shell (for manual control)
-  # =========================================================================
-  simulation:
-    <<: *common
-    container_name: rdc-sim
-    entrypoint: [ "/home/pilot/docker-entrypoint.sh" ]
-    command: [ "bash" ]
-
-  # =========================================================================
-  # Service 1: Gazebo Simulation
+  # SERVICE 1: Gazebo Simulation (must start first)
   # =========================================================================
   gazebo:
     <<: *common
@@ -97,16 +85,25 @@ services:
     entrypoint: [ "/bin/bash", "-c" ]
     command:
       - |
+        echo "=========================================="
+        echo "  SERVICE 1: Starting Gazebo Harmonic"
+        echo "=========================================="
         source /opt/ros/jazzy/setup.bash
         source ~/.bashrc
-        echo "Starting Gazebo Harmonic..."
-        echo "Waiting 5 seconds for initialization..."
-        sleep 5
+        export GZ_SIM_SYSTEM_PLUGIN_PATH=/home/pilot/ardupilot_gazebo/build
+        export GZ_SIM_RESOURCE_PATH=/home/pilot/ardupilot_gazebo/models:/home/pilot/ardupilot_gazebo/worlds:/home/pilot/RDC_Simulation/gazebo/models
         cd /home/pilot/RDC_Simulation
-        ./scripts/run_ardupilot_sim.sh runway
+        echo "Launching Gazebo world: iris_runway"
+        gz sim -r /home/pilot/ardupilot_gazebo/worlds/iris_runway.sdf
+    healthcheck:
+      test: [ "CMD-SHELL", "pgrep -x gz || exit 1" ]
+      interval: 5s
+      timeout: 10s
+      retries: 30
+      start_period: 30s
 
   # =========================================================================
-  # Service 2: ArduPilot SITL
+  # SERVICE 2: ArduPilot SITL (waits for Gazebo)
   # =========================================================================
   sitl:
     <<: *common
@@ -117,16 +114,30 @@ services:
     entrypoint: [ "/bin/bash", "-c" ]
     command:
       - |
+        echo "=========================================="
+        echo "  SERVICE 2: Starting ArduPilot SITL"
+        echo "=========================================="
         source /opt/ros/jazzy/setup.bash
         source ~/.bashrc
-        echo "Waiting 15 seconds for Gazebo to start..."
-        sleep 15
-        echo "Starting ArduPilot SITL..."
+        source ~/.profile 2>/dev/null || true
+
+        # Wait for Gazebo to be ready (check if port 9002 is listening)
+        echo "Waiting for Gazebo to be ready..."
+        for i in {1..60}; do
+          if nc -z localhost 9002 2>/dev/null; then
+            echo "Gazebo is ready!"
+            break
+          fi
+          echo "Waiting... ($$i/60)"
+          sleep 2
+        done
+
+        echo "Starting ArduCopter SITL..."
         cd /home/pilot/ardupilot
-        sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --no-mavproxy
+        sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --map
 
   # =========================================================================
-  # Service 3: Flight Controller
+  # SERVICE 3: Flight Controller (waits for SITL)
   # =========================================================================
   controller:
     <<: *common
@@ -137,22 +148,49 @@ services:
     entrypoint: [ "/bin/bash", "-c" ]
     command:
       - |
+        echo "=========================================="
+        echo "  SERVICE 3: Starting Flight Controller"
+        echo "=========================================="
         source /opt/ros/jazzy/setup.bash
         source ~/.bashrc
         source /home/pilot/RDC_Simulation/venv/bin/activate
-        echo "Waiting 30 seconds for SITL to initialize..."
-        sleep 30
-        echo "Starting flight controller..."
+
+        # Wait for SITL to be ready (check MAVLink port 14550)
+        echo "Waiting for ArduPilot SITL to be ready..."
+        for i in {1..90}; do
+          if nc -z localhost 14550 2>/dev/null; then
+            echo "SITL is ready!"
+            break
+          fi
+          echo "Waiting... ($$i/90)"
+          sleep 2
+        done
+
+        # Additional wait for SITL to fully initialize
+        echo "Waiting 10 more seconds for SITL to stabilize..."
+        sleep 10
+
+        echo "Starting flight controller with square pattern..."
         cd /home/pilot/RDC_Simulation
         python scripts/run_ardupilot.py --pattern square
 
+  # =========================================================================
+  # Interactive Shell (for debugging)
+  # =========================================================================
+  simulation:
+    <<: *common
+    container_name: rdc-sim
+    profiles: [ "debug" ]
+    entrypoint: [ "/home/pilot/docker-entrypoint.sh" ]
+    command: [ "bash" ]
+
   # =========================================================================
   # Headless Mode (CI/Server - no display)
   # =========================================================================
   simulation-headless:
     <<: *common
     container_name: rdc-sim-headless
-    user: "1000:1000"
+    profiles: [ "headless" ]
     environment:
       - NVIDIA_VISIBLE_DEVICES=all
       - NVIDIA_DRIVER_CAPABILITIES=compute,utility
@@ -160,22 +198,6 @@ services:
       - LIBGL_ALWAYS_SOFTWARE=1
       - GZ_SIM_SYSTEM_PLUGIN_PATH=/home/pilot/ardupilot_gazebo/build
       - GZ_SIM_RESOURCE_PATH=/home/pilot/ardupilot_gazebo/models:/home/pilot/ardupilot_gazebo/worlds:/home/pilot/RDC_Simulation/gazebo/models
-    volumes: [] # No display mounts needed
+    volumes: []
     entrypoint: [ "/home/pilot/docker-entrypoint.sh" ]
     command: [ "bash" ]
-
-  # =========================================================================
-  # All-in-One (runs everything in one container)
-  # =========================================================================
-  all-in-one:
-    <<: *common
-    container_name: rdc-all
-    entrypoint: [ "/bin/bash", "-c" ]
-    command:
-      - |
-        source /opt/ros/jazzy/setup.bash
-        source ~/.bashrc
-        source /home/pilot/RDC_Simulation/venv/bin/activate
-        cd /home/pilot/RDC_Simulation
-        echo "Starting all-in-one simulation..."
-        ./scripts/run_ardupilot_controller.sh