Ardupilot Controller Script

docs/ardupilot.md

@@ -1,9 +1,38 @@
 # ArduPilot GPS-Denied Simulation
 
-Realistic flight controller simulation without GPS.
+Realistic flight controller simulation with your drone logic.
 
 ## Quick Start (2 Terminals)
 
+**Terminal 1 - Gazebo:**
+```bash
+./scripts/run_ardupilot_sim.sh runway
+# Options: runway, warehouse, zephyr
+```
+
+**Terminal 2 - Controller + SITL:**
+```bash
+./scripts/run_ardupilot_controller.sh
+```
+
+## How It Works
+
+The `run_ardupilot_controller.sh` script starts ArduPilot SITL in the background and connects your controller to it via MAVLink.
+
+```
+┌─────────────────┐     ┌─────────────────┐     ┌─────────────────┐
+│ Gazebo          │◄───►│ ArduPilot SITL  │◄───►│ run_ardupilot.py│
+│ (Physics)       │JSON │ (Hidden)        │MAV  │ (Your Logic)    │
+└─────────────────┘     └─────────────────┘     └─────────────────┘
+                                                        │
+                                                        ▼
+                                               drone_controller.py
+```
+
+## Manual Mode (Debugging)
+
+If you need to debug with MAVProxy console (3 Terminals):
+
 **Terminal 1:**
 ```bash
 ./scripts/run_ardupilot_sim.sh runway
@@ -12,10 +41,13 @@ Realistic flight controller simulation without GPS.
 **Terminal 2:**
 ```bash
 sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
+```
 
-# GPS-denied mode:
+**Terminal 3:**
+```bash
+# Debug commands in MAVProxy:
 param set ARMING_CHECK 0
-mode stabilize
+mode guided
 arm throttle force
 ```
 
@@ -26,67 +58,32 @@ arm throttle force
 source ~/.bashrc
 ```
 
-## World Options
+## Configuration
 
-```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
-```
+Your `drone_controller.py` receives telemetry and returns control inputs.
 
-## GPS-Denied Configuration
-
-In MAVProxy console:
-
-```bash
-param set ARMING_CHECK 0   # Disable pre-arm checks
-mode stabilize             # Manual with stabilization
-arm throttle force         # Force arm
-```
-
-## GPU Support
-
-Auto-detects: NVIDIA > Intel > AMD > Software
-
-Check your GPU:
-```bash
-glxinfo | grep "OpenGL renderer"
-```
-
-## MAVProxy Commands
-
-```bash
-mode stabilize     # Manual mode
-mode alt_hold      # Altitude hold
-arm throttle force # Arm motors
-takeoff 5          # Takeoff 5m
-mode land          # Land
-```
+The simulation translates your inputs:
+- `thrust` → Vertical velocity
+- `pitch/roll` → Horizontal velocity
+- `yaw` → Yaw rate
 
 ## Troubleshooting
 
+### "SITL failed to start"
+Check if `sim_vehicle.py` is in your PATH:
+```bash
+export PATH=$PATH:~/ardupilot/Tools/autotest
+```
+
+### Drone drift
+ArduPilot in GUIDED mode requires good position estimation. Without GPS, it relies on optical flow or visual odometry (not yet implemented in default setup). The drone might drift if relying only on IMU.
+
 ### "No JSON sensor message"
+Ensure Gazebo (Terminal 1) is running before starting the controller.
 
-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 NOT show "llvmpipe"
-```
-
-### Can't arm
+## Visualizing Camera
 
 ```bash
-param set ARMING_CHECK 0
-arm throttle force
+python camera_viewer.py --topic /drone/camera
 ```
+(Requires bridging the topic if using ROS 2 bridge)