# 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

# Full installation (20-30 minutes)
./setup/install_ubuntu.sh

# Reload environment
source ~/.bashrc
```

### Run the Simulation (3 Terminals)

**Terminal 1 - Start Gazebo FIRST:**
```bash
cd ~/RDC_Simulation
./scripts/run_ardupilot_sim.sh runway
# WAIT until you see the drone in Gazebo!
```

**Terminal 2 - Start ArduCopter SITL:**
```bash
source ~/.ardupilot_env
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
# Wait for "JSON received:" messages (shows Gazebo is connected)
```

**Terminal 3 - Run Controller:**
```bash
cd ~/RDC_Simulation
source activate.sh
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

# Use GPS mode instead of GPS-denied
python scripts/run_ardupilot.py --pattern square --gps
```

## Project Structure

```
RDC_Simulation/
├── scripts/
│   ├── run_ardupilot_sim.sh      # Launch Gazebo
│   ├── run_ardupilot_controller.sh # Launch SITL + Controller
│   └── run_ardupilot.py          # Flight controller entry point
├── src/
│   ├── drone_controller.py       # Main drone controller class
│   ├── rover_controller.py       # Moving landing pad (ROS 2)
│   └── camera_viewer.py          # Camera viewer (ROS 2)
├── setup/
│   ├── install_ubuntu.sh         # Ubuntu/WSL 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" or wrong Python
Wrong virtual environment.
```bash
source ~/.ardupilot_env
pip install empy==3.3.4
```

### "sim_vehicle.py not found"
ArduPilot tools not in PATH.
```bash
source ~/.ardupilot_env
```

### Drone won't arm
- Make sure SITL is in STABILIZE or GUIDED mode
- Check for pre-arm errors in MAVProxy console
- Try in MAVProxy: `arm throttle force`

### Wrong vehicle type (ArduPlane instead of ArduCopter)
You see modes like FBWA, FBWB, QSTABILIZE.
```bash
# Kill old processes
pkill -9 -f sim_vehicle

# Start with explicit ArduCopter
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --wipe-eeprom
```

## Documentation

- [Installation Guide](docs/installation.md)
- [Docker Guide](docs/docker.md)
- [ArduPilot Guide](docs/ardupilot.md)
- [Drone Controller Guide](docs/drone_guide.md)
- [Architecture](docs/architecture.md)

## License

MIT License