feat: Simplify drone controller to basic flight pattern, overhaul installation guide, and update related scripts.
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@@ -1,202 +1,184 @@
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# ArduPilot + Gazebo Simulation
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# ArduPilot + Gazebo Guide
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## Prerequisites
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## Overview
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Before running, ensure your environment is set up:
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```bash
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source activate.sh
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# or
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source ~/.ardupilot_env && source ~/venv-ardupilot/bin/activate
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```
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## Quick Start (2 Terminals)
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**Terminal 1 - Start Gazebo:**
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```bash
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./scripts/run_ardupilot_sim.sh runway
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```
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**Terminal 2 - Start Controller:**
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```bash
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./scripts/run_ardupilot_controller.sh
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```
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This project uses:
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- **ArduPilot SITL**: Software-in-the-loop flight controller
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- **Gazebo**: 3D physics simulation
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- **MAVLink**: Communication protocol
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## Architecture
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```
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┌─────────────────┐ ┌─────────────────┐ ┌─────────────────┐
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│ Gazebo │◄───►│ ArduPilot SITL │◄───►│ run_ardupilot.py│
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│ (Physics) │JSON │ (Flight Ctrl) │MAV │ (Your Logic) │
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└─────────────────┘ └─────────────────┘ └─────────────────┘
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┌─────────────┐ JSON (UDP 9002) ┌─────────────┐ MAVLink (TCP 5760) ┌─────────────┐
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│ Gazebo │◄──────────────────────►│ ArduPilot │◄────────────────────────►│ Your │
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│ (Physics) │ sensor data │ SITL │ commands/telemetry │ Controller │
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└─────────────┘ └─────────────┘ └─────────────┘
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```
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**Communication:**
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- Gazebo ↔ SITL: JSON sensor data over UDP (port 9002)
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- SITL ↔ Your Code: MAVLink over TCP (port 5760)
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## Quick Start
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## World Options
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### Step 1: Start Gazebo
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```bash
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./scripts/run_ardupilot_sim.sh runway # Default (outdoor runway)
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./scripts/run_ardupilot_sim.sh warehouse # Indoor warehouse
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./scripts/run_ardupilot_sim.sh gimbal # With camera gimbal
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./scripts/run_ardupilot_sim.sh zephyr # Fixed-wing aircraft
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./scripts/run_ardupilot_sim.sh custom # Your custom world
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./scripts/run_ardupilot_sim.sh my_world # gazebo/worlds/my_world.sdf
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cd ~/RDC_Simulation
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./scripts/run_ardupilot_sim.sh runway
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```
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## GPS-Denied Mode
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Wait until the drone appears in the 3D view.
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The simulation runs in GPS-denied mode by default. The controller disables GPS checks and uses visual navigation.
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For manual debugging with MAVProxy:
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```bash
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sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
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# In MAVProxy console:
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param set ARMING_CHECK 0
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mode stabilize
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arm throttle force
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rc 3 1500 # Throttle up
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```
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## Controller Options
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### Step 2: Start SITL
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```bash
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./scripts/run_ardupilot_controller.sh # Auto takeoff
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./scripts/run_ardupilot_controller.sh --no-takeoff # Manual control
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./scripts/run_ardupilot_controller.sh -a 10 # 10m altitude
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```
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## Files
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| File | Purpose |
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|------|---------|
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| `scripts/run_ardupilot_sim.sh` | Gazebo launcher with GPU detection |
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| `scripts/run_ardupilot_controller.sh` | SITL + Controller launcher |
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| `scripts/run_ardupilot.py` | MAVLink interface script |
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| `src/drone_controller.py` | Your landing algorithm |
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## Environment Variables
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The scripts automatically set these, but for manual runs:
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```bash
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# ArduPilot tools
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export PATH=$PATH:~/ardupilot/Tools/autotest
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# ArduPilot venv (has empy, pymavlink, etc.)
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source ~/venv-ardupilot/bin/activate
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sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
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```
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# Gazebo plugin paths
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export GZ_SIM_SYSTEM_PLUGIN_PATH=~/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH
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export GZ_SIM_RESOURCE_PATH=~/ardupilot_gazebo/models:~/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH
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You should see telemetry scrolling (NOT "No JSON sensor message").
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### Step 3: Run Controller
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```bash
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source ~/venv-ardupilot/bin/activate
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cd ~/RDC_Simulation
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python scripts/run_ardupilot.py --pattern square
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```
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## Flight Patterns
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```bash
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# Square pattern (5m sides, 5m altitude)
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python scripts/run_ardupilot.py --pattern square --size 5 --altitude 5
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# Circle pattern (5m radius)
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python scripts/run_ardupilot.py --pattern circle --size 5
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# Hover in place for testing
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python scripts/run_ardupilot.py --pattern hover
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# Larger pattern at higher altitude
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python scripts/run_ardupilot.py --pattern square --size 10 --altitude 15
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```
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## Controller Code
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The flight controller is in `src/drone_controller.py`:
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```python
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from src.drone_controller import SimpleDroneController
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drone = SimpleDroneController()
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drone.connect()
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drone.set_mode("GUIDED")
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drone.arm()
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drone.takeoff(5.0)
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drone.fly_square(size=5, altitude=5)
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drone.land()
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```
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### Key Methods
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| Method | Description |
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|--------|-------------|
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| `connect()` | Connect to SITL via MAVLink |
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| `set_mode(mode)` | Set flight mode (GUIDED, LAND, etc.) |
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| `arm()` | Arm motors (force arm) |
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| `takeoff(alt)` | Take off to altitude |
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| `goto(x, y, z)` | Go to position (NED frame) |
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| `fly_to_and_wait(x, y, alt)` | Go to position and wait |
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| `fly_square(size, alt)` | Fly square pattern |
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| `fly_circle(radius, alt)` | Fly circle pattern |
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| `land()` | Land the drone |
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## Available Worlds
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```bash
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# Outdoor runway (default)
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./scripts/run_ardupilot_sim.sh runway
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# Indoor warehouse
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./scripts/run_ardupilot_sim.sh warehouse
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```
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## MAVLink Connection
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The controller connects via TCP port 5760:
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```python
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# config.py
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MAVLINK = {
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"connection_string": "tcp:127.0.0.1:5760",
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}
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```
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## Troubleshooting
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### "No JSON sensor message" or "No heartbeat"
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### "No JSON sensor message received"
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**Cause:** Gazebo isn't running or ArduPilot plugin isn't loaded.
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SITL isn't receiving data from Gazebo.
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**Fix:**
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1. Start Gazebo first (Terminal 1)
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2. Wait for world to fully load
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3. Then start controller (Terminal 2)
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1. Make sure Gazebo is running FIRST
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2. Wait for the world to fully load
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3. Then start SITL
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### "sim_vehicle.py not found"
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**Cause:** ArduPilot tools not in PATH.
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### Drone won't arm
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**Fix:**
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```bash
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source ~/.ardupilot_env
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# or
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export PATH=$PATH:~/ardupilot/Tools/autotest
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# Check pre-arm status in MAVProxy
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arm status
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# Force arm
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arm throttle force
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```
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### "empy not found" during waf build
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**Cause:** Wrong Python environment.
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### Wrong Python environment
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**Fix:**
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```bash
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source ~/venv-ardupilot/bin/activate
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pip install empy==3.3.4
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cd ~/ardupilot
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./waf configure --board sitl
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./waf copter
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which python3 # Should be ~/venv-ardupilot/bin/python3
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```
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### Drone doesn't respond to commands
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**Possible causes:**
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1. Not in GUIDED mode - check MAVProxy: `mode`
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2. Not armed - run: `arm throttle force`
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3. Pre-arm checks failing - run: `param set ARMING_CHECK 0`
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### Drone immediately crashes in Gazebo
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**Cause:** Usually a physics/plugin issue.
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### Gazebo plugin not loading
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**Fix:**
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```bash
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# Rebuild the ArduPilot Gazebo plugin
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cd ~/ardupilot_gazebo/build
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cmake .. -DCMAKE_BUILD_TYPE=Release
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make -j4
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# Check plugin exists
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ls ~/ardupilot_gazebo/build/libArduPilotPlugin.so
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# Check paths
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echo $GZ_SIM_SYSTEM_PLUGIN_PATH
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# Should include: ~/ardupilot_gazebo/build
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```
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### Simulation is laggy
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## Manual SITL Control
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**Cause:** Software rendering or GPU not detected.
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Use MAVProxy commands:
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**Check:**
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```bash
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glxinfo | grep "OpenGL renderer"
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# In SITL console
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mode GUIDED
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arm throttle force
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takeoff 5
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# Move to position
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guided 10 0 -5
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# Land
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mode LAND
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```
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Should show your GPU name, not "llvmpipe" or "software".
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## Useful Commands
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**Fix for WSL:**
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- Install NVIDIA drivers for WSL: https://developer.nvidia.com/cuda/wsl
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- Ensure WSLg is enabled (Windows 11)
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### MAVProxy console not opening
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**Cause:** Missing `--console` flag or display issues.
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**Fix:**
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```bash
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# Run directly
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# List Gazebo topics
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gz topic -l
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# Check SITL status
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sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --map
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# If display errors:
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export DISPLAY=:0 # Linux/WSL with X server
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```
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## Advanced: Custom Takeoff
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To customize the takeoff behavior, edit `scripts/run_ardupilot.py`:
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```python
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# Change altitude
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TAKEOFF_ALTITUDE = 15 # meters
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# Change timeout
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CONNECTION_TIMEOUT = 60 # seconds
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```
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## Logs
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ArduPilot logs are saved to:
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```
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~/ardupilot/logs/
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~/ardupilot/build/sitl/logs/
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```
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View with:
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```bash
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mavlogdump.py --types GPS,ATT ~/ardupilot/logs/LASTLOG.BIN
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# View camera (if available)
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gz topic -e -t /camera
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```
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