# RDC Simulation

GPS-denied drone landing simulation using ArduPilot and Gazebo.

## Quick Start

### Prerequisites
- Ubuntu 22.04/24.04 (or WSL2 on Windows)
- Python 3.10+
- ~10GB disk space

### Installation

```bash
# Clone the repository
git clone <repo-url> RDC_Simulation
cd RDC_Simulation

# Install everything (20-30 minutes)
./setup/install_ubuntu.sh --with-ardupilot

# Reload environment
source ~/.bashrc
```

### Run the Simulation

You need **3 terminals**:

**Terminal 1 - Gazebo:**
```bash
cd ~/RDC_Simulation
./scripts/run_ardupilot_sim.sh runway
# Wait until the drone appears in Gazebo
```

**Terminal 2 - SITL:**
```bash
source ~/venv-ardupilot/bin/activate
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
# Wait for "Waiting for connection" then telemetry
```

**Terminal 3 - Controller:**
```bash
source ~/venv-ardupilot/bin/activate
cd ~/RDC_Simulation
python scripts/run_ardupilot.py --pattern square
```

### Flight Patterns

```bash
# Fly a square pattern (default)
python scripts/run_ardupilot.py --pattern square --size 5

# Fly a circle
python scripts/run_ardupilot.py --pattern circle --size 5

# Just hover in place
python scripts/run_ardupilot.py --pattern hover

# Custom altitude
python scripts/run_ardupilot.py --pattern square --altitude 10
```

## Project Structure

```
RDC_Simulation/
├── scripts/
│   ├── run_ardupilot_sim.sh      # Launch Gazebo
│   ├── run_ardupilot_controller.sh # Launch SITL + Controller
│   └── run_ardupilot.py          # Flight controller
├── src/
│   ├── drone_controller.py       # Simple drone controller
│   ├── rover_controller.py       # Moving landing pad (ROS 2)
│   └── camera_viewer.py          # Camera viewer (ROS 2)
├── setup/
│   ├── install_ubuntu.sh         # Ubuntu installer
│   ├── install_ardupilot.sh      # ArduPilot installer
│   └── install_arch.sh           # Arch Linux installer
├── gazebo/
│   └── models/                   # Custom Gazebo models
├── docs/                         # Documentation
└── config.py                     # Configuration
```

## Troubleshooting

### "No JSON sensor message received"
Gazebo isn't sending data to SITL.
- **Fix**: Start Gazebo FIRST, wait for it to fully load, THEN start SITL.

### "empy not found"
Wrong Python environment.
- **Fix**: `source ~/venv-ardupilot/bin/activate`

### "sim_vehicle.py not found"
ArduPilot tools not in PATH.
- **Fix**: `source ~/.ardupilot_env`

### Can't arm
The drone won't arm or takeoff.
- **Fix**: Make sure you're in GUIDED mode and Gazebo is running.
- Check console for pre-arm errors.

### Gazebo is slow
- Try a lighter world: `./scripts/run_ardupilot_sim.sh runway`
- Check GPU: `glxinfo | grep "OpenGL renderer"`

## Documentation

- [Installation Guide](docs/installation.md)
- [ArduPilot Guide](docs/ardupilot.md)
- [Architecture](docs/architecture.md)
- [Gazebo Worlds](docs/gazebo_worlds.md)

## License

MIT License