# Installation Guide

## Quick Install

```bash
./setup/install_ubuntu.sh
source activate.sh
python standalone_simulation.py
```

## Scripts

| Platform | Command |
|----------|---------|
| Ubuntu/Debian | `./setup/install_ubuntu.sh` |
| ArduPilot SITL | `./setup/install_ardupilot.sh` |
| macOS | `./setup/install_macos.sh` |
| Windows | `.\setup\install_windows.ps1` |

## Platform Support

| Mode | Ubuntu | macOS | Windows |
|------|--------|-------|---------|
| Standalone | ✅ | ✅ | ✅ |
| Gazebo | ✅ | ❌ | WSL2 |
| ArduPilot | ✅ | ❌ | WSL2 |

---

## Ubuntu/Debian

```bash
./setup/install_ubuntu.sh
source activate.sh
```

Installs: ROS 2, Gazebo, PyBullet, OpenCV, pymavlink

---

## ArduPilot SITL

```bash
./setup/install_ardupilot.sh
source ~/.bashrc
```

Installs: ArduPilot SITL, ardupilot_gazebo, MAVProxy

**Run:**
```bash
./scripts/run_ardupilot_sim.sh camera
```

---

## GPU Support

The simulation auto-detects GPU:

| Priority | GPU Type | Notes |
|----------|----------|-------|
| 1 | NVIDIA | Best performance |
| 2 | Intel integrated | Good for laptops |
| 3 | AMD | Good performance |
| 4 | Software (llvmpipe) | Slow fallback |

Check your GPU:
```bash
glxinfo | grep "OpenGL renderer"
```

---

## Manual Install

```bash
python3 -m venv venv
source venv/bin/activate
pip install -r requirements.txt
python standalone_simulation.py
```

---

## Troubleshooting

### Simulation is laggy

```bash
# Check GPU (should NOT show "llvmpipe")
glxinfo | grep "OpenGL renderer"

# Install GPU drivers
sudo apt install mesa-utils  # Intel/AMD
sudo apt install nvidia-driver-535  # NVIDIA
```

### MAVProxy not found

```bash
pip3 install --user mavproxy
export PATH=$PATH:~/.local/bin
```

### sim_vehicle.py not found

```bash
export PATH=$PATH:~/ardupilot/Tools/autotest
```