diff --git a/scripts/run_simulation.sh b/scripts/run_simulation.sh
index 5402e4d..7b82ae5 100755
--- a/scripts/run_simulation.sh
+++ b/scripts/run_simulation.sh
@@ -202,17 +202,21 @@ cd "$ARDUPILOT_HOME"
 
 export PATH=$PATH:$ARDUPILOT_HOME/Tools/autotest:$HOME/.local/bin:$HOME/.local/pipx/venvs/mavproxy/bin
 
+# Run sim_vehicle.py without --console to keep it running
+# The --no-mavproxy flag runs just the SITL, then we start mavproxy separately
 sim_vehicle.py \
     -v $VEHICLE \
     -f gazebo-iris \
     --model JSON \
     -I $INSTANCE \
-    --console \
+    --no-mavproxy \
     &
 SITL_PID=$!
 
-sleep 10
+# Wait for SITL to initialize
+sleep 8
 
+# Start MAVProxy in foreground so user can interact with it
 echo ""
 echo -e "${GREEN}==========================================${NC}"
 echo -e "${GREEN}  Simulation Running${NC}"
@@ -222,7 +226,7 @@ echo -e "${BLUE}Components:${NC}"
 echo "  - Gazebo: PID $GZ_PID"
 echo "  - ArduPilot SITL: PID $SITL_PID"
 echo ""
-echo -e "${BLUE}MAVProxy Commands (in console):${NC}"
+echo -e "${BLUE}MAVProxy Commands:${NC}"
 echo "  mode guided      # Switch to GUIDED mode"
 echo "  arm throttle     # Arm the drone"
 echo "  takeoff 5        # Takeoff to 5 meters"
@@ -230,8 +234,11 @@ echo "  guided 10 5 -10  # Fly to position (N, E, D)"
 echo "  rtl              # Return to launch"
 echo "  land             # Land"
 echo ""
-echo -e "${YELLOW}Press Ctrl+C to stop simulation${NC}"
+echo -e "${YELLOW}MAVProxy starting... (Ctrl+C to exit)${NC}"
 echo ""
 
-# Wait for processes
-wait
+# Start MAVProxy in foreground - user can type commands directly
+mavproxy.py \
+    --master tcp:127.0.0.1:5760 \
+    --sitl 127.0.0.1:5501 \
+    --out udp:127.0.0.1:14550