# ArduPilot + Gazebo Simulation

## Quick Start (2 Terminals)

**Terminal 1:**
```bash
./scripts/run_ardupilot_sim.sh runway
```

**Terminal 2:**
```bash
./scripts/run_ardupilot_controller.sh
```

## Architecture

```
┌─────────────────┐     ┌─────────────────┐     ┌─────────────────┐
│ Gazebo          │◄───►│ ArduPilot SITL  │◄───►│ run_ardupilot.py│
│ (Physics)       │JSON │ (Flight Ctrl)   │MAV  │ (Your Logic)    │
└─────────────────┘     └─────────────────┘     └─────────────────┘
```

## 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
```

## GPS-Denied Mode

The simulation runs in GPS-denied mode by default.

For manual debugging with MAVProxy:
```bash
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console

# In MAVProxy:
param set ARMING_CHECK 0
mode stabilize
arm throttle force
```

## Controller Options

```bash
./scripts/run_ardupilot_controller.sh                 # Auto takeoff
./scripts/run_ardupilot_controller.sh --no-takeoff    # Manual
./scripts/run_ardupilot_controller.sh -a 10           # 10m altitude
```

## Files

| 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 |

## Troubleshooting

### "No JSON sensor message"
Start Gazebo (Terminal 1) before the controller.

### Drone doesn't respond
Check mode is GUIDED in MAVProxy.

### Simulation laggy
Check GPU: `glxinfo | grep "OpenGL renderer"`