Ardupilot Controller Script

scripts/run_ardupilot_controller.sh

@@ -0,0 +1,61 @@
+#!/bin/bash
+# =============================================================================
+# ArduPilot Controller Launcher
+# =============================================================================
+# Starts ArduPilot SITL and your drone controller together.
+#
+# Usage:
+#   Terminal 1: ./scripts/run_ardupilot_sim.sh runway
+#   Terminal 2: ./scripts/run_ardupilot_controller.sh
+# =============================================================================
+
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
+
+echo "=============================================="
+echo "  ArduPilot Controller"
+echo "=============================================="
+echo ""
+
+# Check dependencies
+if ! command -v sim_vehicle.py &> /dev/null; then
+    echo "[ERROR] sim_vehicle.py not found"
+    echo "Add to PATH: export PATH=\$PATH:~/ardupilot/Tools/autotest"
+    exit 1
+fi
+
+# Activate virtual environment if exists
+if [ -f "$PROJECT_DIR/venv/bin/activate" ]; then
+    source "$PROJECT_DIR/venv/bin/activate"
+fi
+
+# Start SITL in background
+echo "[INFO] Starting ArduPilot SITL..."
+sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --no-mavproxy &
+SITL_PID=$!
+
+# Wait for SITL to start
+sleep 5
+
+# Check if SITL started
+if ! kill -0 $SITL_PID 2>/dev/null; then
+    echo "[ERROR] SITL failed to start"
+    exit 1
+fi
+
+echo "[OK] SITL started (PID: $SITL_PID)"
+echo ""
+
+# Trap to kill SITL on exit
+trap "echo ''; echo '[INFO] Stopping SITL...'; kill $SITL_PID 2>/dev/null; exit 0" INT TERM
+
+# Run controller
+echo "[INFO] Starting drone controller..."
+echo ""
+cd "$PROJECT_DIR"
+python run_ardupilot.py "$@"
+
+# Cleanup
+kill $SITL_PID 2>/dev/null