Recommend a hello world workflow for first Lua script

common/source/docs/common-scripting-step-by-step.rst

@@ -5,21 +5,36 @@
 Script Setup and Use Examples
 =============================
 
-Testing a Script in SITL
+Running a Script in SITL
 ========================
 In Linux:
 
-#. Assuming you have setup the build and simulation environment, run the simulation. See :ref:`using-sitl-for-ardupilot-testing`. For example:
+#. Assuming you have setup the build and SITL environment, run SITL. See :ref:`using-sitl-for-ardupilot-testing`. For example:
 
-.. code::
+.. code-block:: bash
 
-    sim_vehicle.py -v plane -f quadplane
+    cd /path/to/ardupilot
+    ./Tools/autotest/sim_vehicle.py -v plane --console
 
 Mavproxy ground control station will automatically be started. You can also start QGC (using the QGroundControl.AppImage) and/or Mission Planner (using WISE to run under Linux). Any or all three can be used simultaneously.
 
-#. From your GCS, enable scripting by setting the :ref:`SCR_ENABLE<SCR_ENABLE>` parameter to "1". Restart the simulation.
-#. A "scripts" sub-directory will be created in the directory you started the simulation, if it did not already exist. Place the script you downloaded into this directory. Again, restart the simulation.
-#. If you get a "Scripting: out of memory" GCS message then you will need to increase :ref:`SCR_HEAP_SIZE<SCR_HEAP_SIZE>` parameter and try to restart the simulation.
+#. From your GCS, enable scripting by setting the :ref:`SCR_ENABLE<SCR_ENABLE>` parameter to "1". Restart the simulation, or in MAVProxy, type ``reboot``.
+#. A "scripts" sub-directory will be created in the directory you started the simulation, if it did not already exist. You should expect to see a line similar to the following: ``Lua: State memory usage: 4824 + 9263``. This shows that scripting is now enabled.
+#. Now, create your first script in the ``scripts`` folder. If it's your first time, try the hello world script
+
+    .. code-block:: bash
+
+        cp libraries/AP_Scripting/examples/hello_world.lua scripts/
+
+#. Again, restart the simulation. 
+#. You should now observe the following in console.
+
+    .. image:: ../../../images/LuaHelloWorld.png
+        :target: ../_images/LuaHelloWorld.png
+
+#. Now, you can try changing the script to say something else and saving the Lua script.
+#. In MAVProxy, once you you save changes to your Lua script, you can just restart the scripting engine with ``scripting restart``. This allows to you keep SITL running and quickly change your script.
+#. If you get a "Scripting: out of memory" GCS message then you will need to increase :ref:`SCR_HEAP_SIZE<SCR_HEAP_SIZE>` parameter and try to restart the simulation. The hello world script has enough memory.
 
 In Mission Planner (Windows):
 

dev/source/docs/using-sitl-for-ardupilot-testing.rst

@@ -8,7 +8,7 @@ This article describes how :ref:`SITL <sitl-simulator-software-in-the-loop>` can
 
 SITL can be run under Linux using a tool named ``sim_vehicle.py`` from a Linux or WSL2 command line, or through :ref:`Mission Planner's Simulation feature <mission-planner-simulation>`. It can also be run in conjunction with a graphics visualization and/or physics modeling program like :ref:`Realflight<sitl-with-realflight>`.
 
-In addition to running the simulation, a ground control station program will need to be run concurrently in order to control the simultion. With ``sim_vehicle.py``, `MAVProxy <https://ardupilot.org/mavproxy/index.html>`__ is automatically started. When using Mission Planner's simulation feature, it is used. You can also have more than one GCS attached, see :ref:`connect to different GCSs <using-sitl-for-ardupilot-testing_connecting_otheradditional_ground_stations>`.
+In addition to running the simulation, a ground control station program will need to be run concurrently in order to control the simulation. With ``sim_vehicle.py``, `MAVProxy <https://ardupilot.org/mavproxy/index.html>`__ is automatically started. When using Mission Planner's simulation feature, it is used. You can also have more than one GCS attached, see :ref:`connect to different GCSs <using-sitl-for-ardupilot-testing_connecting_otheradditional_ground_stations>`.
 
 .. note::
 
@@ -37,10 +37,21 @@ Using sim_vehicle.py
 
 A startup script, ```sim_vehicle.py`` is provided to automatically build the SITL firmware version for the current code branch, load the simulation models, start the simulator, setup environment and vehicle parameters, and start the MAVProxy GCS. Many script start-up parameters can be specified, type this for a full list:
 
+Generally, you can run SITL from the root of your ArduPilot clone.
+
+::
+
+    cd /path/to/ardupilot
+    ./Tools/autotest/sim_vehicle.py --help
+
+
+Alternatively, when you initially configured your environment, if you elected to install ``Tools/autotest`` onto your path, you can run SITL from any directory like so:
+
 ::
 
     sim_vehicle.py --help
 
+If you work with multiple clones of ArduPilot in different workspaces, it's recommend to call SITL directly to avoid accidentally running the wrong simulator.
 
 Selecting a vehicle/frame type
 ------------------------------