Docs Update

docs/ardupilot.md

@@ -1,17 +1,22 @@
-# ArduPilot SITL Integration
+# ArduPilot GPS-Denied Simulation
 
-Run the simulation with a realistic ArduPilot flight controller.
+Realistic flight controller simulation without GPS.
 
 ## Quick Start (2 Terminals)
 
-**Terminal 1 - Gazebo:**
+**Terminal 1:**
 ```bash
-gz sim -v4 -r ~/ardupilot_gazebo/worlds/iris_runway.sdf
+./scripts/run_ardupilot_sim.sh camera
 ```
 
-**Terminal 2 - SITL + MAVProxy:**
+**Terminal 2:**
 ```bash
 sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
+
+# GPS-denied mode:
+param set ARMING_CHECK 0
+mode stabilize
+arm throttle force
 ```
 
 ## Installation
@@ -21,82 +26,74 @@ sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
 source ~/.bashrc
 ```
 
-This installs:
-- ArduPilot SITL
-- Gazebo Harmonic
-- ardupilot_gazebo plugin
-- MAVProxy
+Installs: ArduPilot SITL, Gazebo, ardupilot_gazebo plugin, MAVProxy
+
+## GPS-Denied Configuration
+
+In MAVProxy console:
+
+```bash
+# Disable all pre-arm checks
+param set ARMING_CHECK 0
+
+# GPS-free flight modes
+mode stabilize      # Manual with stabilization
+mode alt_hold       # Altitude hold
+mode guided_nogps   # Guided without GPS
+```
+
+## GPU Support
+
+The launcher auto-detects your GPU:
+
+| GPU | Status |
+|-----|--------|
+| NVIDIA | Best performance |
+| Intel integrated | Good for laptops |
+| AMD | Good performance |
+| Software | Works but slow |
+
+## Camera Feed
+
+### In Gazebo GUI
+Click camera icon → Select drone camera
+
+### Using camera_viewer
+```bash
+ros2 run ros_gz_bridge parameter_bridge /drone/camera@sensor_msgs/msg/Image[gz.msgs.Image
+python camera_viewer.py --topic /drone/camera
+```
+
+## World Options
+
+```bash
+./scripts/run_ardupilot_sim.sh runway   # Default
+./scripts/run_ardupilot_sim.sh camera   # With camera
+```
 
 ## MAVProxy Commands
 
-Once `sim_vehicle.py` is running:
-
 ```bash
-# Set GUIDED mode
-mode guided
-
-# Arm
-arm throttle
-
-# Takeoff to 5m
-takeoff 5
-
-# Land
-mode land
-
-# Disarm
-disarm
+mode stabilize     # Manual mode
+mode guided_nogps  # Autonomous (no GPS)
+arm throttle force # Arm motors
+takeoff 5          # Takeoff 5m
+mode land          # Land
 ```
 
-## Available Worlds
-
-```bash
-# Iris on runway
-gz sim -v4 -r ~/ardupilot_gazebo/worlds/iris_runway.sdf
-
-# Zephyr plane
-gz sim -v4 -r ~/ardupilot_gazebo/worlds/zephyr_runway.sdf
-```
-
-## Standalone SITL (No Gazebo)
-
-```bash
-sim_vehicle.py -v ArduCopter --console --map
-```
-
-This opens a 2D map view for testing without Gazebo.
-
-## How It Works
-
-```
-Gazebo                    ArduPilot SITL
-┌─────────────────┐      ┌─────────────────┐
-│ iris_runway.sdf │◄────►│ sim_vehicle.py  │
-│ + ArduPilot     │ JSON │ + MAVProxy      │
-│   Plugin        │ UDP  │                 │
-└─────────────────┘      └─────────────────┘
-                              │
-                              ▼ MAVLink
-                         Your Controller
-```
-
-The ArduPilot Gazebo plugin communicates with SITL via JSON over UDP.
-
 ## Troubleshooting
 
-**sim_vehicle.py not found:**
+### Simulation laggy
 ```bash
-export PATH=$PATH:~/ardupilot/Tools/autotest
+glxinfo | grep "OpenGL renderer"
+# Should show GPU, not "llvmpipe"
 ```
 
-**Plugin not loading:**
+### Can't arm
 ```bash
-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
-```
-
-**Can't arm:**
-```bash
-# In MAVProxy, disable pre-arm checks
 param set ARMING_CHECK 0
+arm throttle force
 ```
+
+### No camera
+Use `./scripts/run_ardupilot_sim.sh camera` for camera world.