# ArduPilot SITL Integration

Run the simulation with a realistic ArduPilot flight controller.

## Quick Start

**Terminal 1 - Simulation:**
```bash
source ~/ardu_ws/install/setup.bash
ros2 launch ardupilot_gz_bringup iris_runway.launch.py
```

**Terminal 2 - Control:**
```bash
mavproxy.py --console --map --master=:14550
```

## Installation

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

This installs:
- ArduPilot SITL with DDS
- Gazebo with ardupilot_gz
- MAVProxy

## MAVProxy Commands

```bash
# Set mode
mode guided

# Arm
arm throttle

# Takeoff
takeoff 5

# Land
mode land
```

## ROS 2 Topics

ArduPilot publishes native ROS 2 topics:

```bash
# List topics
ros2 topic list

# View position
ros2 topic echo /ap/geopose/filtered

# View battery
ros2 topic echo /ap/battery
```

| Topic | Type |
|-------|------|
| `/ap/pose/filtered` | PoseStamped |
| `/ap/twist/filtered` | TwistStamped |
| `/ap/imu/filtered` | Imu |
| `/ap/battery` | BatteryState |

## Available Worlds

```bash
# Iris on runway
ros2 launch ardupilot_gz_bringup iris_runway.launch.py

# Iris in maze
ros2 launch ardupilot_gz_bringup iris_maze.launch.py

# Rover
ros2 launch ardupilot_gz_bringup wildthumper_playpen.launch.py
```

## Using the Launcher

```bash
python run_ardupilot.py --world runway
python run_ardupilot.py --world maze
python run_ardupilot.py --vehicle rover
```

## Troubleshooting

**No ROS 2 topics:**
```bash
# Check DDS is enabled
param set DDS_ENABLE 1
```

**Can't arm:**
```bash
# Disable pre-arm checks (simulation only)
param set ARMING_CHECK 0
```