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@@ -5022,12 +5129,12 @@ <h1 id="agentsmd">AGENTS.md<a class="headerlink" href="#agentsmd" title="Permane
 <p>This file provides guidance to AI coding agents (OpenHands, Claude Code, etc.) when working with the AirStack repository.</p>
 <h2 id="quick-start-for-ai-agents">Quick Start for AI Agents<a class="headerlink" href="#quick-start-for-ai-agents" title="Permanent link">&para;</a></h2>
 <p><strong>Project:</strong> AirStack - Comprehensive autonomous aerial robotics stack developed by AirLab CMU</p>
-<p><strong>Stack:</strong> ROS 2 Jazzy | Docker-based development | Isaac Sim with Pegasus extension | Field robotics</p>
+<p><strong>Stack:</strong> ROS 2 Jazzy | Docker-based development | Isaac Sim with Pegasus extension | Microsoft AirSim (legacy, UE4) | Field robotics</p>
 <p><strong>Primary Goal:</strong> Enable agents to understand the architecture, implement new algorithms/modules, and integrate them correctly into the layered autonomy stack.</p>
 <h2 id="repository-purpose">Repository Purpose<a class="headerlink" href="#repository-purpose" title="Permanent link">&para;</a></h2>
 <p>AirStack provides a complete end-to-end system for autonomous drone operations including:
 - Modular autonomy stack (interface, sensors, perception, local planning, global planning, behavior)
-- High-fidelity Isaac Sim simulation environment
+- High-fidelity simulation environments (Isaac Sim with Pegasus extension, Microsoft AirSim legacy/UE4)
 - Ground Control Station for mission planning and monitoring
 - Multi-robot coordination capabilities
 - Hardware deployment tools</p>
@@ -5044,11 +5151,12 @@ <h3 id="high-level-structure">High-Level Structure<a class="headerlink" href="#h
 </span><span id="__span-0-8"><a id="__codelineno-0-8" name="__codelineno-0-8" href="#__codelineno-0-8"></a>│       ├── global/          # Global planning &amp; mapping
 </span><span id="__span-0-9"><a id="__codelineno-0-9" name="__codelineno-0-9" href="#__codelineno-0-9"></a>│       └── behavior/        # High-level mission execution
 </span><span id="__span-0-10"><a id="__codelineno-0-10" name="__codelineno-0-10" href="#__codelineno-0-10"></a>├── simulation/isaac-sim/    # Isaac Sim (Pegasus extension)
-</span><span id="__span-0-11"><a id="__codelineno-0-11" name="__codelineno-0-11" href="#__codelineno-0-11"></a>├── gcs/                     # Ground Control Station
-</span><span id="__span-0-12"><a id="__codelineno-0-12" name="__codelineno-0-12" href="#__codelineno-0-12"></a>├── common/                  # Shared packages &amp; utilities
-</span><span id="__span-0-13"><a id="__codelineno-0-13" name="__codelineno-0-13" href="#__codelineno-0-13"></a>├── docs/                    # MkDocs documentation
-</span><span id="__span-0-14"><a id="__codelineno-0-14" name="__codelineno-0-14" href="#__codelineno-0-14"></a>├── mkdocs.yml               # MkDocs config file
-</span><span id="__span-0-15"><a id="__codelineno-0-15" name="__codelineno-0-15" href="#__codelineno-0-15"></a>└── .agents/skills/          # Detailed workflow guides for agents
+</span><span id="__span-0-11"><a id="__codelineno-0-11" name="__codelineno-0-11" href="#__codelineno-0-11"></a>├── simulation/ms-airsim/       # AirSim (UE4 + PX4 SITL)
+</span><span id="__span-0-12"><a id="__codelineno-0-12" name="__codelineno-0-12" href="#__codelineno-0-12"></a>├── gcs/                     # Ground Control Station
+</span><span id="__span-0-13"><a id="__codelineno-0-13" name="__codelineno-0-13" href="#__codelineno-0-13"></a>├── common/                  # Shared packages &amp; utilities
+</span><span id="__span-0-14"><a id="__codelineno-0-14" name="__codelineno-0-14" href="#__codelineno-0-14"></a>├── docs/                    # MkDocs documentation
+</span><span id="__span-0-15"><a id="__codelineno-0-15" name="__codelineno-0-15" href="#__codelineno-0-15"></a>├── mkdocs.yml               # MkDocs config file
+</span><span id="__span-0-16"><a id="__codelineno-0-16" name="__codelineno-0-16" href="#__codelineno-0-16"></a>└── .agents/skills/          # Detailed workflow guides for agents
 </span></code></pre></div>
 <h3 id="layered-autonomy-pattern">Layered Autonomy Pattern<a class="headerlink" href="#layered-autonomy-pattern" title="Permanent link">&para;</a></h3>
 <p>The autonomy stack follows a <strong>layered architecture</strong> where data flows through processing stages:</p>
@@ -5258,7 +5366,7 @@ <h3 id="testing-levels">Testing Levels<a class="headerlink" href="#testing-level
 <p>Located in module's <code>test/</code> directory</p>
 </li>
 <li>
-<p><strong>System Level:</strong> Full simulation tests in Isaac Sim</p>
+<p><strong>System Level:</strong> Full simulation tests (Isaac Sim or Microsoft AirSim legacy)</p>
 </li>
 <li>End-to-end autonomy stack testing</li>
 <li>Real sensor simulation</li>
@@ -5319,7 +5427,8 @@ <h2 id="package-templates">Package Templates<a class="headerlink" href="#package
 <h2 id="docker-architecture">Docker Architecture<a class="headerlink" href="#docker-architecture" title="Permanent link">&para;</a></h2>
 <p>Each major component has its own Docker container:
 - <strong>robot</strong>: ROS 2 autonomy stack (Jazzy)
-- <strong>isaac-sim</strong>: NVIDIA Isaac Sim with Pegasus extension
+- <strong>isaac-sim</strong>: NVIDIA Isaac Sim with Pegasus extension (profile: <code>desktop</code> or <code>robot</code>)
+- <strong>airsim</strong>: AirSim UE4 binary + PX4 SITL + ROS 2 bridge (profile: <code>ms-airsim</code>)
 - <strong>gcs</strong>: Ground Control Station
 - <strong>docs</strong>: Documentation building (MkDocs)</p>
 <p><strong>Configuration:</strong>
@@ -5376,7 +5485,7 @@ <h2 id="critical-pitfalls-to-avoid">Critical Pitfalls to Avoid<a class="headerli
 </li>
 <li>❌ Only testing module in isolation</li>
 <li>✅ Test in full autonomy stack context</li>
-<li>✅ Verify in Isaac Sim simulation</li>
+<li>✅ Verify in Isaac Sim or Microsoft AirSim (legacy) simulation</li>
 </ol>
 <h2 id="key-differences-from-claudemd">Key Differences from CLAUDE.md<a class="headerlink" href="#key-differences-from-claudemd" title="Permanent link">&para;</a></h2>
 <p>This guide supersedes <code>CLAUDE.md</code> (which now symlinks here). Key updates:</p>
@@ -5408,6 +5517,7 @@ <h3 id="airstack-documentation">AirStack Documentation<a class="headerlink" href
 <li><a href="../docs/getting_started/">Getting Started</a></li>
 <li><a href="../docs/robot/autonomy/">Autonomy Stack Overview</a></li>
 <li><a href="../docs/simulation/isaac_sim/">Isaac Sim Setup</a></li>
+<li><a href="../docs/simulation/ms-airsim/">Microsoft AirSim (legacy) Setup</a></li>
 <li><a href="docs/development/testing/index.md">Testing Guide</a></li>
 </ul>
 <h3 id="external-tools">External Tools<a class="headerlink" href="#external-tools" title="Permanent link">&para;</a></h3>