diff --git a/setup/install_arch.sh b/setup/install_arch.sh
index c397fc1..139ed50 100755
--- a/setup/install_arch.sh
+++ b/setup/install_arch.sh
@@ -159,8 +159,7 @@ if [ -d "$HOME/ardupilot_gazebo/build" ]; then
 fi
 
 echo ""
-echo "Environment ready! Run:"
-echo "  python standalone_simulation.py"
+echo "Environment ready! See README.md for usage instructions."
 echo ""
 EOF
 
@@ -187,18 +186,26 @@ echo "=============================================="
 echo "  Installation Complete!"
 echo "=============================================="
 echo ""
-echo "Quick start:"
-echo "  source activate.sh"
-echo "  python standalone_simulation.py"
+echo "Quick start (3 terminals):"
 echo ""
-echo "With moving rover:"
-echo "  python standalone_simulation.py --pattern circular --speed 0.3"
+echo "Terminal 1 - Start Gazebo:"
+echo "  cd ~/RDC_Simulation"
+echo "  ./scripts/run_ardupilot_sim.sh runway"
+echo ""
+echo "Terminal 2 - Start ArduCopter SITL:"
+echo "  source ~/venv-ardupilot/bin/activate"
+echo "  sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console"
+echo ""
+echo "Terminal 3 - Run Controller:"
+echo "  source ~/venv-ardupilot/bin/activate"
+echo "  cd ~/RDC_Simulation"
+echo "  python scripts/run_ardupilot.py --pattern square"
 echo ""
 echo "=============================================="
 echo "  Optional: Install ROS 2 + Gazebo from AUR"
 echo "=============================================="
 echo ""
-echo "If you need ROS 2 for the full simulation mode:"
+echo "If you need ROS 2 for additional features:"
 echo ""
 echo "  # Install ROS 2 Humble"
 echo "  yay -S ros-humble-desktop"
@@ -206,12 +213,9 @@ echo ""
 echo "  # Install Gazebo bridge"
 echo "  yay -S ros-humble-ros-gz"
 echo ""
-echo "  # Install Gazebo Fortress (provides 'ign' command)"
-echo "  yay -S ignition-fortress"
+echo "  # Install Gazebo Harmonic"
+echo "  yay -S gz-harmonic"
 echo ""
-echo "After installing, use:"
-echo "  ign gazebo gazebo/worlds/drone_landing.sdf  # Terminal 1"
-echo "  python run_gazebo.py --pattern circular     # Terminal 2"
 echo ""
 echo "=============================================="
 echo "  Optional: Install ArduPilot SITL"
@@ -227,14 +231,13 @@ echo ""
 echo "  # Clone and build ArduPilot Gazebo plugin"
 echo "  git clone https://github.com/ArduPilot/ardupilot_gazebo.git ~/ardupilot_gazebo"
 echo "  cd ~/ardupilot_gazebo && mkdir build && cd build"
-echo "  cmake .. && make -j$(nproc)"
+echo "  cmake .. && make -j\$(nproc)"
 echo ""
 echo "  # Add to environment"
 echo "  export ARDUPILOT_HOME=~/ardupilot"
 echo "  export PATH=\$PATH:\$ARDUPILOT_HOME/Tools/autotest"
 echo "  export GZ_SIM_SYSTEM_PLUGIN_PATH=~/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH"
 echo ""
-echo "Then run:"
-echo "  python run_ardupilot.py --pattern circular"
+echo "Then run the 3-terminal setup as described above."
 echo ""
 
diff --git a/setup/install_macos.sh b/setup/install_macos.sh
index 1457376..e584109 100755
--- a/setup/install_macos.sh
+++ b/setup/install_macos.sh
@@ -100,10 +100,9 @@ fi
 echo ""
 echo "Environment ready!"
 echo ""
-echo "Run: python standalone_simulation.py"
-echo ""
-echo "Note: ROS 2 and Gazebo are not supported on macOS."
-echo "      Use standalone_simulation.py for the complete experience."
+echo "Note: ArduPilot SITL and Gazebo require Linux."
+echo "      Use a Linux VM (UTM) or Docker for the full simulation."
+echo "      See docs/installation.md for details."
 echo ""
 EOF
 
@@ -129,21 +128,19 @@ echo "=============================================="
 echo "  Installation Complete!"
 echo "=============================================="
 echo ""
-echo "Quick start:"
-echo "  source activate.sh"
-echo "  python standalone_simulation.py"
+echo "Note: ArduPilot SITL and Gazebo require Linux."
 echo ""
-echo "With moving rover:"
-echo "  python standalone_simulation.py --pattern circular --speed 0.3"
-echo ""
-echo "=============================================="
-echo "  Want ROS 2 + Gazebo?"
-echo "=============================================="
-echo ""
-echo "ROS 2 and Gazebo are not supported on macOS."
-echo "For the full experience, use a Linux VM or Docker:"
+echo "For the full simulation, use a Linux VM or Docker:"
 echo "  - UTM (Apple Silicon): https://mac.getutm.app"
 echo "  - Docker Desktop: docker run -it ubuntu:22.04"
-echo "  - Then run: ./setup/install_ubuntu.sh"
+echo "  - Then run: ./setup/install_ubuntu.sh --with-ardupilot"
+echo ""
+echo "Once in Linux, run (3 terminals):"
+echo ""
+echo "  Terminal 1: ./scripts/run_ardupilot_sim.sh runway"
+echo "  Terminal 2: sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console"
+echo "  Terminal 3: python scripts/run_ardupilot.py --pattern square"
+echo ""
+echo "See docs/installation.md for detailed instructions."
 echo ""
 
diff --git a/setup/install_ubuntu.sh b/setup/install_ubuntu.sh
index c6bb84f..bfde962 100755
--- a/setup/install_ubuntu.sh
+++ b/setup/install_ubuntu.sh
@@ -213,7 +213,7 @@ if [ -d "$HOME/ardupilot_gazebo/build" ]; then
 fi
 
 echo ""
-echo "Ready! Run: python standalone_simulation.py"
+echo "Ready! See README.md for usage instructions."
 EOF
 
 chmod +x "$PROJECT_ROOT/activate.sh"
@@ -241,8 +241,8 @@ if [ "$INSTALL_ARDUPILOT" = true ]; then
     echo ""
     echo "[INFO] Installing ArduPilot SITL..."
     
-    if [ -f "$SCRIPT_DIR/install_ardupilot.sh" ]; then
-        bash "$SCRIPT_DIR/install_ardupilot.sh"
+    if [ -f "$SCRIPT_DIR/setup/install_ardupilot.sh" ]; then
+        bash "$SCRIPT_DIR/setup/install_ardupilot.sh"
     else
         echo "[ERROR] install_ardupilot.sh not found!"
     fi
@@ -253,16 +253,23 @@ echo "=============================================="
 echo "  Installation Complete!"
 echo "=============================================="
 echo ""
-echo "Quick start:"
-echo "  source activate.sh"
-echo "  python standalone_simulation.py"
+echo "Quick start (3 terminals):"
 echo ""
-echo "With Gazebo (2 terminals):"
-echo "  Terminal 1: ros2 launch gazebo/launch/drone_landing.launch.py"
-echo "  Terminal 2: python run_gazebo.py --pattern circular"
+echo "Terminal 1 - Start Gazebo:"
+echo "  cd ~/RDC_Simulation"
+echo "  ./scripts/run_ardupilot_sim.sh runway"
+echo ""
+echo "Terminal 2 - Start ArduCopter SITL:"
+echo "  source ~/venv-ardupilot/bin/activate"
+echo "  sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console"
+echo ""
+echo "Terminal 3 - Run Controller:"
+echo "  source ~/venv-ardupilot/bin/activate"
+echo "  cd ~/RDC_Simulation"
+echo "  python scripts/run_ardupilot.py --pattern square"
 echo ""
 if [ "$INSTALL_ARDUPILOT" != true ]; then
-    echo "For ArduPilot SITL:"
+    echo "For ArduPilot SITL (required for flight):"
     echo "  ./setup/install_ardupilot.sh"
     echo ""
 fi
diff --git a/setup/install_windows.ps1 b/setup/install_windows.ps1
index e5f42f9..849fbaa 100644
--- a/setup/install_windows.ps1
+++ b/setup/install_windows.ps1
@@ -149,13 +149,14 @@ $activateBat = Join-Path $ProjectRoot "activate.bat"
 @"
 @echo off
 REM Drone Simulation - Environment Activation (Windows CMD)
+REM Note: Full ArduPilot simulation requires WSL2 (Linux)
 
 call "%~dp0venv\Scripts\activate.bat"
 
 echo.
-echo [OK] Environment ready!
+echo [OK] Python environment ready!
 echo.
-echo Run: python standalone_simulation.py
+echo Note: ArduPilot SITL requires WSL2. See docs/installation.md
 echo.
 "@ | Out-File -FilePath $activateBat -Encoding ASCII
 
@@ -163,6 +164,7 @@ echo.
 $activatePs1 = Join-Path $ProjectRoot "activate.ps1"
 @"
 # Drone Simulation - Environment Activation (Windows PowerShell)
+# Note: Full ArduPilot simulation requires WSL2 (Linux)
 # Usage: . .\activate.ps1
 
 `$ScriptDir = Split-Path -Parent `$MyInvocation.MyCommand.Path
@@ -171,9 +173,9 @@ $activatePs1 = Join-Path $ProjectRoot "activate.ps1"
 & "`$ScriptDir\venv\Scripts\Activate.ps1"
 
 Write-Host ""
-Write-Host "[OK] Environment ready!" -ForegroundColor Green
+Write-Host "[OK] Python environment ready!" -ForegroundColor Green
 Write-Host ""
-Write-Host "Run: python standalone_simulation.py" -ForegroundColor White
+Write-Host "Note: ArduPilot SITL requires WSL2. See docs/installation.md" -ForegroundColor Yellow
 Write-Host ""
 "@ | Out-File -FilePath $activatePs1 -Encoding UTF8
 
@@ -214,18 +216,13 @@ Write-Host "=============================================="  -ForegroundColor Cy
 Write-Host "  Installation Complete!" -ForegroundColor Cyan
 Write-Host "=============================================="  -ForegroundColor Cyan
 Write-Host ""
-Write-Host "Quick start:" -ForegroundColor Yellow
-Write-Host "  . .\activate.ps1" -ForegroundColor White
-Write-Host "  python standalone_simulation.py" -ForegroundColor White
-Write-Host ""
-Write-Host "With moving rover:" -ForegroundColor Yellow
-Write-Host "  python standalone_simulation.py --pattern circular --speed 0.3" -ForegroundColor White
+Write-Host "Note: ArduPilot SITL simulation requires WSL2 (Linux)." -ForegroundColor Yellow
 Write-Host ""
 Write-Host "======================================================" -ForegroundColor Cyan
-Write-Host "  Want ROS 2 + Gazebo + ArduPilot? Use WSL2" -ForegroundColor Cyan
+Write-Host "  Full Simulation: Use WSL2 (Linux)" -ForegroundColor Cyan
 Write-Host "======================================================" -ForegroundColor Cyan
 Write-Host ""
-Write-Host "For the full simulation with Gazebo and ArduPilot:" -ForegroundColor Gray
+Write-Host "ArduPilot + Gazebo simulation requires Linux:" -ForegroundColor Gray
 Write-Host ""
 Write-Host "Step 1: Install WSL2" -ForegroundColor Yellow
 Write-Host "  wsl --install -d Ubuntu-24.04" -ForegroundColor White
@@ -236,9 +233,10 @@ 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 "Step 3: Run simulation (3 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 "  Terminal 2: sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console" -ForegroundColor White
+Write-Host "  Terminal 3: python scripts/run_ardupilot.py --pattern square" -ForegroundColor White
 Write-Host ""
 Write-Host "GPU Acceleration in WSL:" -ForegroundColor Yellow
 Write-Host "  - Windows 11: WSLg auto-enabled (no setup needed)" -ForegroundColor DarkGray