From 347a5cc4f895714d01e37597ae3dbebe5f465069 Mon Sep 17 00:00:00 2001
From: default <adithcool.5@gmail.com>
Date: Mon, 9 Feb 2026 06:06:07 +0000
Subject: [PATCH] Scripts Update 2

---
 scripts/run_autonomous.sh | 35 +++++++++++++++--------------------
 1 file changed, 15 insertions(+), 20 deletions(-)

diff --git a/scripts/run_autonomous.sh b/scripts/run_autonomous.sh
index 5587efe..b029a28 100755
--- a/scripts/run_autonomous.sh
+++ b/scripts/run_autonomous.sh
@@ -22,22 +22,17 @@ print_error() { echo -e "${RED}[ERROR]${NC} $1"; }
 SOFTWARE_RENDER=false
 WORLD="iris_runway.sdf"
 MISSION="hover"  # hover, square, circle
-USE_CONSOLE=true  # Show MAVProxy console by default
 
 while [[ $# -gt 0 ]]; do
     case $1 in
         --software-render) SOFTWARE_RENDER=true; shift ;;
         --world) WORLD="$2"; shift 2 ;;
         --mission) MISSION="$2"; shift 2 ;;
-        --no-console) USE_CONSOLE=false; shift ;;
-        --console) USE_CONSOLE=true; shift ;;
         -h|--help)
             echo "Usage: $0 [options]"
             echo "  --software-render   Use software rendering (WSL/no GPU)"
             echo "  --world <file>      World file to load (default: iris_runway.sdf)"
             echo "  --mission <type>    Mission type: hover, square, circle (default: hover)"
-            echo "  --console           Show MAVProxy console (default: on)"
-            echo "  --no-console        Hide MAVProxy console"
             exit 0
             ;;
         *) shift ;;
@@ -93,38 +88,38 @@ print_success "Gazebo running (PID: $GZ_PID)"
 print_info "Starting ArduPilot SITL..."
 cd ~/ardupilot
 
-# Build SITL command
-SITL_ARGS="-v ArduCopter -f gazebo-iris --model JSON -I0"
+# Build SITL command - always use --no-mavproxy for autonomous mode
+# Our controller connects directly to SITL on port 5760
+# MAVProxy console conflicts with our controller's connection
+SITL_ARGS="-v ArduCopter -f gazebo-iris --model JSON -I0 --no-mavproxy"
 
-# Add console/map if requested
-if [ "$USE_CONSOLE" = true ]; then
-    SITL_ARGS="$SITL_ARGS --console --map"
-    print_info "MAVProxy console enabled"
-else
-    SITL_ARGS="$SITL_ARGS --no-mavproxy"
-fi
+# Add output port for external monitoring (e.g., QGroundControl on 14550)
+SITL_ARGS="$SITL_ARGS --out 127.0.0.1:14550"
 
 # Check if custom param file exists
 PARAM_FILE="$PROJECT_DIR/config/ardupilot_gps_denied.parm"
 if [ -f "$PARAM_FILE" ]; then
-    print_info "Loading GPS-denied parameters..."
+    print_info "Loading custom parameters..."
     SITL_ARGS="$SITL_ARGS --add-param-file $PARAM_FILE"
 fi
 
+print_info "SITL will output status to this terminal"
+print_info "Connect GCS to udp:127.0.0.1:14550 for monitoring"
+
 # Start SITL
 sim_vehicle.py $SITL_ARGS &
 SITL_PID=$!
 
-# Wait longer for SITL to fully initialize
-print_info "Waiting for SITL to initialize (this takes ~20 seconds)..."
+# Wait for SITL to initialize
+print_info "Waiting for SITL to initialize (~20 seconds)..."
 sleep 20
 
-# Check if SITL started
-if ! kill -0 $SITL_PID 2>/dev/null; then
+# Check if SITL started (check for arducopter process, not sim_vehicle.py)
+if ! pgrep -f "arducopter" > /dev/null 2>&1; then
     print_error "ArduPilot SITL failed to start"
     exit 1
 fi
-print_success "ArduPilot SITL running (PID: $SITL_PID)"
+print_success "ArduPilot SITL running"
 
 # Step 3: Start the autonomous controller
 print_info "Starting Autonomous Controller..."