ArduPilot + Gazebo Simulation

Quick Start (2 Terminals)

Terminal 1:

./scripts/run_ardupilot_sim.sh runway

Terminal 2:

./scripts/run_ardupilot_controller.sh

Architecture

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

World Options

./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:

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

./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"

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