diff --git a/README.md b/README.md
index c641b6d..75062e3 100644
--- a/README.md
+++ b/README.md
@@ -6,18 +6,20 @@ ArduPilot + ROS 2 + Gazebo (ARG) simulation for landing on a moving platform.
 
 **Terminal 1 - Gazebo:**
 ```bash
+source activate.sh
 ./scripts/run_ardupilot_sim.sh runway
 ```
 
 **Terminal 2 - Controller:**
 ```bash
+source activate.sh
 ./scripts/run_ardupilot_controller.sh
 ```
 
 ## World Options
 
 ```bash
-./scripts/run_ardupilot_sim.sh runway     # Default
+./scripts/run_ardupilot_sim.sh runway     # Default (outdoor)
 ./scripts/run_ardupilot_sim.sh warehouse  # Indoor
 ./scripts/run_ardupilot_sim.sh custom     # Custom landing pad
 ./scripts/run_ardupilot_sim.sh my_world   # gazebo/worlds/my_world.sdf
@@ -25,12 +27,32 @@ ArduPilot + ROS 2 + Gazebo (ARG) simulation for landing on a moving platform.
 
 ## Installation
 
+### Ubuntu (Native or WSL2)
+
 ```bash
 ./setup/install_ubuntu.sh
 ./setup/install_ardupilot.sh
 source ~/.bashrc
 ```
 
+### Windows (via WSL2)
+
+```powershell
+# PowerShell as Administrator
+wsl --install -d Ubuntu-24.04
+# Restart, then in Ubuntu terminal:
+./setup/install_ubuntu.sh --with-ardupilot
+```
+
+### macOS
+
+```bash
+./setup/install_macos.sh
+python standalone_simulation.py  # Gazebo not supported
+```
+
+See [Installation Guide](docs/installation.md) for detailed platform instructions.
+
 ## Project Structure
 
 ```
@@ -56,11 +78,44 @@ simulation/
 | COMMAND | Send commands to rover |
 | LAND | Land on rover |
 
+## Environment Setup
+
+Always activate the environment before running:
+
+```bash
+source activate.sh
+```
+
+This sets up:
+- ROS 2 environment
+- ArduPilot venv (with empy, pymavlink, etc.)
+- Gazebo resource paths
+- ArduPilot tools path
+
+## Troubleshooting
+
+**sim_vehicle.py not found:**
+```bash
+source ~/.ardupilot_env
+```
+
+**empy not found:**
+```bash
+source ~/venv-ardupilot/bin/activate
+pip install empy==3.3.4
+```
+
+**Gazebo slow (software rendering):**
+```bash
+glxinfo | grep "OpenGL renderer"
+# Should show GPU, not "llvmpipe"
+```
+
 ## Documentation
 
-- [Installation](docs/installation.md)
-- [ArduPilot Guide](docs/ardupilot.md)
-- [Drone Controller](docs/drone_guide.md)
-- [Custom Worlds](docs/gazebo_worlds.md)
-- [Blender Models](docs/blender_models.md)
-- [Architecture](docs/architecture.md)
\ No newline at end of file
+- [Installation](docs/installation.md) - Full setup for all platforms + WSL
+- [ArduPilot Guide](docs/ardupilot.md) - SITL setup and troubleshooting
+- [Drone Controller](docs/drone_guide.md) - Landing algorithm
+- [Custom Worlds](docs/gazebo_worlds.md) - Create Gazebo environments
+- [Blender Models](docs/blender_models.md) - 3D model workflow
+- [Architecture](docs/architecture.md) - System design
\ No newline at end of file
diff --git a/docs/ardupilot.md b/docs/ardupilot.md
index 6195fd0..8925578 100644
--- a/docs/ardupilot.md
+++ b/docs/ardupilot.md
@@ -1,13 +1,23 @@
 # ArduPilot + Gazebo Simulation
 
+## Prerequisites
+
+Before running, ensure your environment is set up:
+
+```bash
+source activate.sh
+# or
+source ~/.ardupilot_env && source ~/venv-ardupilot/bin/activate
+```
+
 ## Quick Start (2 Terminals)
 
-**Terminal 1:**
+**Terminal 1 - Start Gazebo:**
 ```bash
 ./scripts/run_ardupilot_sim.sh runway
 ```
 
-**Terminal 2:**
+**Terminal 2 - Start Controller:**
 ```bash
 ./scripts/run_ardupilot_controller.sh
 ```
@@ -21,33 +31,41 @@
 └─────────────────┘     └─────────────────┘     └─────────────────┘
 ```
 
+**Communication:**
+- Gazebo ↔ SITL: JSON sensor data over UDP (port 9002)
+- SITL ↔ Your Code: MAVLink over TCP (port 5760)
+
 ## World Options
 
 ```bash
-./scripts/run_ardupilot_sim.sh runway     # Default
-./scripts/run_ardupilot_sim.sh warehouse  # Indoor
-./scripts/run_ardupilot_sim.sh zephyr     # Fixed-wing
+./scripts/run_ardupilot_sim.sh runway     # Default (outdoor runway)
+./scripts/run_ardupilot_sim.sh warehouse  # Indoor warehouse
+./scripts/run_ardupilot_sim.sh gimbal     # With camera gimbal
+./scripts/run_ardupilot_sim.sh zephyr     # Fixed-wing aircraft
+./scripts/run_ardupilot_sim.sh custom     # Your custom world
+./scripts/run_ardupilot_sim.sh my_world   # gazebo/worlds/my_world.sdf
 ```
 
 ## GPS-Denied Mode
 
-The simulation runs in GPS-denied mode by default.
+The simulation runs in GPS-denied mode by default. The controller disables GPS checks and uses visual navigation.
 
 For manual debugging with MAVProxy:
 ```bash
 sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
 
-# In MAVProxy:
+# In MAVProxy console:
 param set ARMING_CHECK 0
 mode stabilize
 arm throttle force
+rc 3 1500  # Throttle up
 ```
 
 ## Controller Options
 
 ```bash
 ./scripts/run_ardupilot_controller.sh                 # Auto takeoff
-./scripts/run_ardupilot_controller.sh --no-takeoff    # Manual
+./scripts/run_ardupilot_controller.sh --no-takeoff    # Manual control
 ./scripts/run_ardupilot_controller.sh -a 10           # 10m altitude
 ```
 
@@ -55,18 +73,130 @@ arm throttle force
 
 | File | Purpose |
 |------|---------|
-| `scripts/run_ardupilot_sim.sh` | Gazebo + GPU detection |
-| `scripts/run_ardupilot_controller.sh` | SITL + Controller |
-| `scripts/run_ardupilot.py` | MAVLink interface |
-| `src/drone_controller.py` | Your algorithm |
+| `scripts/run_ardupilot_sim.sh` | Gazebo launcher with GPU detection |
+| `scripts/run_ardupilot_controller.sh` | SITL + Controller launcher |
+| `scripts/run_ardupilot.py` | MAVLink interface script |
+| `src/drone_controller.py` | Your landing algorithm |
+
+## Environment Variables
+
+The scripts automatically set these, but for manual runs:
+
+```bash
+# ArduPilot tools
+export PATH=$PATH:~/ardupilot/Tools/autotest
+
+# ArduPilot venv (has empy, pymavlink, etc.)
+source ~/venv-ardupilot/bin/activate
+
+# Gazebo plugin paths
+export GZ_SIM_SYSTEM_PLUGIN_PATH=~/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH
+export GZ_SIM_RESOURCE_PATH=~/ardupilot_gazebo/models:~/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH
+```
 
 ## Troubleshooting
 
-### "No JSON sensor message"
-Start Gazebo (Terminal 1) before the controller.
+### "No JSON sensor message" or "No heartbeat"
 
-### Drone doesn't respond
-Check mode is GUIDED in MAVProxy.
+**Cause:** Gazebo isn't running or ArduPilot plugin isn't loaded.
 
-### Simulation laggy
-Check GPU: `glxinfo | grep "OpenGL renderer"`
+**Fix:**
+1. Start Gazebo first (Terminal 1)
+2. Wait for world to fully load
+3. Then start controller (Terminal 2)
+
+### "sim_vehicle.py not found"
+
+**Cause:** ArduPilot tools not in PATH.
+
+**Fix:**
+```bash
+source ~/.ardupilot_env
+# or
+export PATH=$PATH:~/ardupilot/Tools/autotest
+```
+
+### "empy not found" during waf build
+
+**Cause:** Wrong Python environment.
+
+**Fix:**
+```bash
+source ~/venv-ardupilot/bin/activate
+pip install empy==3.3.4
+cd ~/ardupilot
+./waf configure --board sitl
+./waf copter
+```
+
+### Drone doesn't respond to commands
+
+**Possible causes:**
+1. Not in GUIDED mode - check MAVProxy: `mode`
+2. Not armed - run: `arm throttle force`
+3. Pre-arm checks failing - run: `param set ARMING_CHECK 0`
+
+### Drone immediately crashes in Gazebo
+
+**Cause:** Usually a physics/plugin issue.
+
+**Fix:**
+```bash
+# Rebuild the ArduPilot Gazebo plugin
+cd ~/ardupilot_gazebo/build
+cmake .. -DCMAKE_BUILD_TYPE=Release
+make -j4
+```
+
+### Simulation is laggy
+
+**Cause:** Software rendering or GPU not detected.
+
+**Check:**
+```bash
+glxinfo | grep "OpenGL renderer"
+```
+
+Should show your GPU name, not "llvmpipe" or "software".
+
+**Fix for WSL:**
+- Install NVIDIA drivers for WSL: https://developer.nvidia.com/cuda/wsl
+- Ensure WSLg is enabled (Windows 11)
+
+### MAVProxy console not opening
+
+**Cause:** Missing `--console` flag or display issues.
+
+**Fix:**
+```bash
+# Run directly
+sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --map
+
+# If display errors:
+export DISPLAY=:0  # Linux/WSL with X server
+```
+
+## Advanced: Custom Takeoff
+
+To customize the takeoff behavior, edit `scripts/run_ardupilot.py`:
+
+```python
+# Change altitude
+TAKEOFF_ALTITUDE = 15  # meters
+
+# Change timeout
+CONNECTION_TIMEOUT = 60  # seconds
+```
+
+## Logs
+
+ArduPilot logs are saved to:
+```
+~/ardupilot/logs/
+~/ardupilot/build/sitl/logs/
+```
+
+View with:
+```bash
+mavlogdump.py --types GPS,ATT ~/ardupilot/logs/LASTLOG.BIN
+```
diff --git a/docs/installation.md b/docs/installation.md
index d617ae9..7ce282f 100644
--- a/docs/installation.md
+++ b/docs/installation.md
@@ -1,6 +1,6 @@
 # Installation
 
-## Quick Install
+## Quick Install (Ubuntu/WSL)
 
 ```bash
 ./setup/install_ubuntu.sh
@@ -13,11 +13,101 @@ source ~/.bashrc
 | Component | Location |
 |-----------|----------|
 | ArduPilot SITL | `~/ardupilot` |
+| ArduPilot venv | `~/venv-ardupilot` |
 | ardupilot_gazebo | `~/ardupilot_gazebo` |
 | Gazebo Harmonic | System |
 | ROS 2 | System |
 | MAVProxy | `~/.local/bin` |
 
+## Platform-Specific Installation
+
+### Ubuntu (Native)
+
+```bash
+./setup/install_ubuntu.sh --with-ardupilot
+```
+
+### Windows (via WSL2)
+
+WSL2 (Windows Subsystem for Linux) is the recommended way to run this simulation on Windows.
+
+#### Step 1: Install WSL2
+
+Open PowerShell as Administrator:
+```powershell
+wsl --install -d Ubuntu-24.04
+```
+
+Restart your computer when prompted.
+
+#### Step 2: Configure WSL2 for GUI Apps
+
+WSL2 on Windows 11 has built-in GUI support (WSLg). For Windows 10, you may need an X server:
+
+```powershell
+# Windows 11 - WSLg is automatic, no extra setup needed
+
+# Windows 10 - Install VcXsrv or X410 from Microsoft Store
+```
+
+#### Step 3: Install in WSL
+
+Open Ubuntu from Start menu:
+```bash
+# Clone the project (or copy from Windows)
+git clone https://github.com/your-repo/RDC_Simulation.git
+cd RDC_Simulation
+
+# Run installation
+./setup/install_ubuntu.sh
+./setup/install_ardupilot.sh
+source ~/.bashrc
+```
+
+#### Step 4: GPU Acceleration in WSL
+
+For best performance with Gazebo:
+
+```bash
+# Check GPU availability
+glxinfo | grep "OpenGL renderer"
+
+# Should show your GPU, not "llvmpipe"
+# If using NVIDIA, install NVIDIA GPU driver for WSL:
+# https://developer.nvidia.com/cuda/wsl
+```
+
+#### WSL Tips
+
+- **Access Windows files:** `/mnt/c/Users/YourName/`
+- **Open file explorer:** `explorer.exe .`
+- **Copy to clipboard:** `cat file | clip.exe`
+- **Memory limit:** Create `%UserProfile%\.wslconfig`:
+  ```ini
+  [wsl2]
+  memory=8GB
+  processors=4
+  ```
+
+### macOS
+
+Gazebo is not officially supported on macOS. Use standalone mode:
+
+```bash
+./setup/install_macos.sh
+python standalone_simulation.py
+```
+
+For full simulation, use a Linux VM (UTM for Apple Silicon) or Docker.
+
+### Arch Linux
+
+```bash
+./setup/install_arch.sh
+```
+
+ROS 2 and Gazebo are available via AUR - see script output for details.
+
 ## Dependencies
 
 ```bash
@@ -34,29 +124,107 @@ pip install -r requirements.txt
 ## Verify Installation
 
 ```bash
+# Source the environment
+source activate.sh
+
+# Check ArduPilot tools
 sim_vehicle.py --help
+which mavproxy.py
+
+# Check Gazebo
 gz sim --help
 ```
 
+## Environment Setup
+
+After installation, always source the environment before running:
+
+```bash
+source activate.sh
+# or
+source ~/.bashrc  # if ArduPilot was installed
+```
+
+The activation script sets up:
+- ROS 2 environment
+- ArduPilot Python venv (with empy, pymavlink, etc.)
+- Gazebo resource paths
+- ArduPilot tools path
+
 ## Troubleshooting
 
-### sim_vehicle.py not found
+### "empy not found" or waf configure fails
+
+The ArduPilot venv isn't activated. Run:
 ```bash
+source ~/venv-ardupilot/bin/activate
+pip install empy==3.3.4
+```
+
+### sim_vehicle.py not found
+
+```bash
+source ~/.ardupilot_env
+# or
 export PATH=$PATH:~/ardupilot/Tools/autotest
 ```
 
 ### mavproxy.py not found
+
 ```bash
 export PATH=$PATH:~/.local/bin
 ```
 
 ### pexpect error
+
 ```bash
 pip install pexpect
 ```
 
-### Gazebo slow
+### Gazebo slow / Software rendering
+
 ```bash
 glxinfo | grep "OpenGL renderer"
 ```
-Should show GPU, not "llvmpipe".
+
+Should show your GPU, not "llvmpipe". Install proper GPU drivers:
+
+- **NVIDIA:** `sudo apt install nvidia-driver-XXX`
+- **AMD:** `sudo apt install mesa-vulkan-drivers`
+- **Intel:** Usually works out of box
+- **WSL:** Install NVIDIA WSL driver from nvidia.com
+
+### Wrong Python environment
+
+If you see errors about missing packages that should be installed:
+
+```bash
+# Check which Python is being used
+which python3
+
+# Should be: ~/venv-ardupilot/bin/python3
+# If not, activate the correct venv:
+source ~/venv-ardupilot/bin/activate
+```
+
+### WSL: Display not working
+
+```bash
+# Check DISPLAY variable
+echo $DISPLAY
+
+# For WSLg (Windows 11), should be auto-set
+# For Windows 10 with X server:
+export DISPLAY=:0
+```
+
+### WSL: Out of memory
+
+Create `%UserProfile%\.wslconfig`:
+```ini
+[wsl2]
+memory=8GB
+swap=4GB
+```
+
+Then restart WSL: `wsl --shutdown`
diff --git a/setup/install_arch.sh b/setup/install_arch.sh
index e4c5336..ef2db3b 100755
--- a/setup/install_arch.sh
+++ b/setup/install_arch.sh
@@ -123,8 +123,18 @@ else
     echo "[INFO] ROS 2 not found - standalone mode available"
 fi
 
-# Activate Python venv
-if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
+# Source ArduPilot environment (if installed)
+if [ -f "$HOME/.ardupilot_env" ]; then
+    source "$HOME/.ardupilot_env"
+    echo "[OK] ArduPilot environment"
+fi
+
+# Activate ArduPilot venv (has empy and other dependencies)
+if [ -f "$HOME/venv-ardupilot/bin/activate" ]; then
+    source "$HOME/venv-ardupilot/bin/activate"
+    echo "[OK] ArduPilot venv"
+# Fallback to project venv
+elif [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
     source "$SCRIPT_DIR/venv/bin/activate"
     echo "[OK] Python venv activated"
 fi
@@ -132,6 +142,16 @@ fi
 # Set Gazebo model path if available
 export GZ_SIM_RESOURCE_PATH="$SCRIPT_DIR/gazebo/models:$GZ_SIM_RESOURCE_PATH"
 
+# Add paths for ArduPilot tools
+export PATH="$PATH:$HOME/.local/bin"
+export PATH="$PATH:$HOME/ardupilot/Tools/autotest"
+
+# ArduPilot Gazebo plugin
+if [ -d "$HOME/ardupilot_gazebo/build" ]; then
+    export GZ_SIM_SYSTEM_PLUGIN_PATH="$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH"
+    export GZ_SIM_RESOURCE_PATH="$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH"
+fi
+
 echo ""
 echo "Environment ready! Run:"
 echo "  python standalone_simulation.py"
diff --git a/setup/install_ubuntu.sh b/setup/install_ubuntu.sh
index ac4df57..32e286c 100755
--- a/setup/install_ubuntu.sh
+++ b/setup/install_ubuntu.sh
@@ -177,8 +177,18 @@ elif [ -f "/opt/ros/humble/setup.bash" ]; then
     echo "[OK] ROS 2 humble"
 fi
 
-# Activate Python venv
-if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
+# Source ArduPilot environment (if installed)
+if [ -f "$HOME/.ardupilot_env" ]; then
+    source "$HOME/.ardupilot_env"
+    echo "[OK] ArduPilot environment"
+fi
+
+# Activate ArduPilot venv (has empy and other dependencies)
+if [ -f "$HOME/venv-ardupilot/bin/activate" ]; then
+    source "$HOME/venv-ardupilot/bin/activate"
+    echo "[OK] ArduPilot venv"
+# Fallback to project venv
+elif [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
     source "$SCRIPT_DIR/venv/bin/activate"
     echo "[OK] Python venv"
 fi
@@ -186,13 +196,14 @@ fi
 # Set Gazebo paths
 export GZ_SIM_RESOURCE_PATH="$SCRIPT_DIR/gazebo/models:$GZ_SIM_RESOURCE_PATH"
 
-# Add ~/.local/bin to PATH (for mavproxy.py)
+# Add paths for ArduPilot tools and MAVProxy
 export PATH="$PATH:$HOME/.local/bin"
+export PATH="$PATH:$HOME/ardupilot/Tools/autotest"
 
-# ArduPilot workspace
-if [ -f "$HOME/ardu_ws/install/setup.bash" ]; then
-    source "$HOME/ardu_ws/install/setup.bash"
-    echo "[OK] ArduPilot workspace"
+# ArduPilot Gazebo plugin
+if [ -d "$HOME/ardupilot_gazebo/build" ]; then
+    export GZ_SIM_SYSTEM_PLUGIN_PATH="$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH"
+    export GZ_SIM_RESOURCE_PATH="$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH"
 fi
 
 echo ""
diff --git a/setup/install_windows.ps1 b/setup/install_windows.ps1
index 753502e..e5f42f9 100644
--- a/setup/install_windows.ps1
+++ b/setup/install_windows.ps1
@@ -221,12 +221,34 @@ Write-Host ""
 Write-Host "With moving rover:" -ForegroundColor Yellow
 Write-Host "  python standalone_simulation.py --pattern circular --speed 0.3" -ForegroundColor White
 Write-Host ""
-Write-Host "=============================================="  -ForegroundColor Cyan
-Write-Host "  Want ROS 2 + Gazebo? Use WSL2" -ForegroundColor Cyan
-Write-Host "=============================================="  -ForegroundColor Cyan
+Write-Host "======================================================" -ForegroundColor Cyan
+Write-Host "  Want ROS 2 + Gazebo + ArduPilot? Use WSL2" -ForegroundColor Cyan
+Write-Host "======================================================" -ForegroundColor Cyan
 Write-Host ""
-Write-Host "For the full experience with ROS 2 and Gazebo:" -ForegroundColor Gray
-Write-Host "  1. Install WSL2: wsl --install -d Ubuntu-22.04" -ForegroundColor White
-Write-Host "  2. Open Ubuntu and run: ./setup/install_ubuntu.sh" -ForegroundColor White
-Write-Host "  3. See docs/installation.md for details" -ForegroundColor White
+Write-Host "For the full simulation with Gazebo and ArduPilot:" -ForegroundColor Gray
+Write-Host ""
+Write-Host "Step 1: Install WSL2" -ForegroundColor Yellow
+Write-Host "  wsl --install -d Ubuntu-24.04" -ForegroundColor White
+Write-Host "  # Restart your computer when prompted" -ForegroundColor DarkGray
+Write-Host ""
+Write-Host "Step 2: Open Ubuntu and install" -ForegroundColor Yellow
+Write-Host "  cd /mnt/c/path/to/RDC_Simulation" -ForegroundColor White
+Write-Host "  ./setup/install_ubuntu.sh --with-ardupilot" -ForegroundColor White
+Write-Host "  source ~/.bashrc" -ForegroundColor White
+Write-Host ""
+Write-Host "Step 3: Run simulation (2 terminals)" -ForegroundColor Yellow
+Write-Host "  Terminal 1: ./scripts/run_ardupilot_sim.sh runway" -ForegroundColor White
+Write-Host "  Terminal 2: ./scripts/run_ardupilot_controller.sh" -ForegroundColor White
+Write-Host ""
+Write-Host "GPU Acceleration in WSL:" -ForegroundColor Yellow
+Write-Host "  - Windows 11: WSLg auto-enabled (no setup needed)" -ForegroundColor DarkGray
+Write-Host "  - NVIDIA GPU: Install WSL driver from nvidia.com/cuda/wsl" -ForegroundColor DarkGray
+Write-Host "  - Check: glxinfo | grep 'OpenGL renderer'" -ForegroundColor DarkGray
+Write-Host ""
+Write-Host "WSL Tips:" -ForegroundColor Yellow
+Write-Host "  - Access Windows files: /mnt/c/Users/YourName/" -ForegroundColor DarkGray
+Write-Host "  - Open folder in Explorer: explorer.exe ." -ForegroundColor DarkGray
+Write-Host "  - Increase memory: Create %UserProfile%\.wslconfig" -ForegroundColor DarkGray
+Write-Host ""
+Write-Host "See docs/installation.md for detailed instructions." -ForegroundColor Gray
 Write-Host ""