diff --git a/build.sh b/build.sh
index 8b45d64ba1..047267a6a0 100755
--- a/build.sh
+++ b/build.sh
@@ -1,158 +1,121 @@
 #!/usr/bin/env bash
-
-# get path of current script: https://stackoverflow.com/a/39340259/207661
-SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-pushd "$SCRIPT_DIR"  >/dev/null
-
 set -e
 set -x
 
-debug=false
-gcc=false
-# Parse command line arguments
-while [[ $# -gt 0 ]]
-do
-    key="$1"
-
-    case $key in
-    --debug)
-        debug=true
-        shift # past argument
-        ;;
-    --gcc)
-        gcc=true
-        shift # past argument
-        ;;
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+pushd "$SCRIPT_DIR" >/dev/null
+
+downloadHighPolySuv=true
+DEBUG="${DEBUG:-false}"
+
+# -------------------------------
+# Parse arguments
+# -------------------------------
+while [[ $# -gt 0 ]]; do
+    case "$1" in
+        --debug)
+            DEBUG=true
+            ;;
+        --no-full-poly-car)
+            downloadHighPolySuv=false
+            ;;
     esac
-
+    shift
 done
 
-function version_less_than_equal_to() { test "$(printf '%s\n' "$@" | sort -V | head -n 1)" = "$1"; }
-
-# check for rpclib
-RPC_VERSION_FOLDER="rpclib-2.3.0"
-if [ ! -d "./external/rpclib/$RPC_VERSION_FOLDER" ]; then
-    echo "ERROR: new version of AirSim requires newer rpclib."
-    echo "please run setup.sh first and then run build.sh again."
+# -------------------------------
+# Fedora system dependencies
+# -------------------------------
+echo "Installing Fedora dependencies..."
+sudo dnf update -y
+sudo dnf install -y \
+    git cmake clang clang-devel gcc gcc-c++ make \
+    llvm llvm-devel libcxx libcxx-devel libcxxabi libcxxabi-devel \
+    libstdc++-devel \
+    python3 python3-pip \
+    wget unzip rsync \
+    lsb-release \
+    mesa-libGL-devel mesa-libEGL-devel \
+    libX11-devel libXcursor-devel libXinerama-devel libXrandr-devel libXi-devel \
+    vulkan-loader vulkan-validation-layers mesa-dri-drivers mesa-vulkan-drivers
+
+# -------------------------------
+# CMake version check
+# -------------------------------
+MIN_CMAKE_VERSION=3.10.0
+cmake_ver=$(cmake --version | head -n1 | awk '{print $3}')
+function version_less_than_equal_to() {
+    test "$(printf '%s\n' "$@" | sort -V | head -n 1)" = "$1"
+}
+if version_less_than_equal_to "$cmake_ver" "$MIN_CMAKE_VERSION"; then
+    echo "CMake version too old: $cmake_ver"
+    echo "Please install a newer cmake"
     exit 1
-fi
-
-# check for local cmake build created by setup.sh
-if [ -d "./cmake_build" ]; then
-    if [ "$(uname)" == "Darwin" ]; then
-        CMAKE="$(greadlink -f cmake_build/bin/cmake)"
-    else
-        CMAKE="$(readlink -f cmake_build/bin/cmake)"
-    fi
 else
-    CMAKE=$(which cmake)
+    echo "CMake version OK: $cmake_ver"
 fi
 
-# variable for build output
-if $debug; then
-    build_dir=build_debug
-else
-    build_dir=build_release
-fi 
-if [ "$(uname)" == "Darwin" ]; then
-    # llvm v8 is too old for Big Sur see
-    # https://github.com/microsoft/AirSim/issues/3691
-    #export CC=/usr/local/opt/llvm@8/bin/clang
-    #export CXX=/usr/local/opt/llvm@8/bin/clang++
-    #now pick up whatever setup.sh installs
-    export CC="$(brew --prefix)/opt/llvm/bin/clang"
-    export CXX="$(brew --prefix)/opt/llvm/bin/clang++"
-else
-    if $gcc; then
-        export CC="gcc-8"
-        export CXX="g++-8"
-    else
-        export CC="clang-8"
-        export CXX="clang++-8"
-    fi
+# -------------------------------
+# Dialout group for PX4 HIL (optional)
+# -------------------------------
+if getent group dialout >/dev/null; then
+    sudo usermod -aG dialout "$USER" || true
 fi
 
-#install EIGEN library
-if [[ ! -d "./AirLib/deps/eigen3/Eigen" ]]; then
-    echo "### Eigen is not installed. Please run setup.sh first."
-    exit 1
-fi
-
-echo "putting build in $build_dir folder, to clean, just delete the directory..."
-
-# this ensures the cmake files will be built in our $build_dir instead.
-if [[ -f "./cmake/CMakeCache.txt" ]]; then
-    rm "./cmake/CMakeCache.txt"
-fi
-if [[ -d "./cmake/CMakeFiles" ]]; then
-    rm -rf "./cmake/CMakeFiles"
+# -------------------------------
+# Download rpclib
+# -------------------------------
+if [ ! -d "external/rpclib/rpclib-2.3.0" ]; then
+    echo "Downloading rpclib..."
+    rm -rf "external/rpclib"
+    mkdir -p "external/rpclib"
+    wget https://github.com/rpclib/rpclib/archive/v2.3.0.zip
+    unzip -q v2.3.0.zip -d external/rpclib
+    rm v2.3.0.zip
 fi
 
-
-
-if [[ ! -d $build_dir ]]; then
-    mkdir -p $build_dir
-fi
-
-# Fix for Unreal/Unity using x86_64 (Rosetta) on Apple Silicon hardware.
-CMAKE_VARS=
-if [ "$(uname)" == "Darwin" ]; then
-    CMAKE_VARS="-DCMAKE_APPLE_SILICON_PROCESSOR=x86_64"
+# -------------------------------
+# Download high-poly SUV assets
+# -------------------------------
+if $downloadHighPolySuv; then
+    SUV_DIR="Unreal/Plugins/AirSim/Content/VehicleAdv/SUV/v1.2.0"
+    if [ ! -d "$SUV_DIR" ]; then
+        echo "Downloading high-poly SUV assets (~37MB)..."
+        rm -rf suv_download_tmp
+        mkdir suv_download_tmp
+        cd suv_download_tmp
+        wget https://github.com/Microsoft/AirSim/releases/download/v1.2.0/car_assets.zip
+        unzip -q car_assets.zip -d ../Unreal/Plugins/AirSim/Content/VehicleAdv
+        cd ..
+        rm -rf suv_download_tmp
+    fi
+else
+    echo "Skipping high-poly SUV assets (--no-full-poly-car)"
 fi
 
-pushd $build_dir  >/dev/null
-if $debug; then
-    folder_name="Debug"
-    "$CMAKE" ../cmake -DCMAKE_BUILD_TYPE=Debug $CMAKE_VARS \
-        || (popd && rm -r $build_dir && exit 1)   
+# -------------------------------
+# Install Eigen library
+# -------------------------------
+if [ ! -d "AirLib/deps/eigen3" ]; then
+    echo "Installing Eigen..."
+    wget -O eigen3.zip https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.zip
+    unzip -q eigen3.zip -d temp_eigen
+    mkdir -p AirLib/deps/eigen3
+    mv temp_eigen/eigen*/Eigen AirLib/deps/eigen3
+    rm -rf temp_eigen eigen3.zip
 else
-    folder_name="Release"
-    "$CMAKE" ../cmake -DCMAKE_BUILD_TYPE=Release $CMAKE_VARS \
-        || (popd && rm -r $build_dir && exit 1)
+    echo "Eigen already installed."
 fi
-popd >/dev/null
 
+# -------------------------------
+# Set LLVM_DIR for CMake
+# -------------------------------
+export LLVM_DIR=/usr/lib64/cmake/llvm
+export CMAKE_PREFIX_PATH=/usr/lib64/cmake:$CMAKE_PREFIX_PATH
 
-pushd $build_dir  >/dev/null
-# final linking of the binaries can fail due to a missing libc++abi library
-# (happens on Fedora, see https://bugzilla.redhat.com/show_bug.cgi?id=1332306).
-# So we only build the libraries here for now
-make -j"$(nproc)"
 popd >/dev/null
-
-mkdir -p AirLib/lib/x64/$folder_name
-mkdir -p AirLib/deps/rpclib/lib
-mkdir -p AirLib/deps/MavLinkCom/lib
-cp $build_dir/output/lib/libAirLib.a AirLib/lib
-cp $build_dir/output/lib/libMavLinkCom.a AirLib/deps/MavLinkCom/lib
-cp $build_dir/output/lib/librpc.a AirLib/deps/rpclib/lib/librpc.a
-
-# Update AirLib/lib, AirLib/deps, Plugins folders with new binaries
-rsync -a --delete $build_dir/output/lib/ AirLib/lib/x64/$folder_name
-rsync -a --delete external/rpclib/$RPC_VERSION_FOLDER/include AirLib/deps/rpclib
-rsync -a --delete MavLinkCom/include AirLib/deps/MavLinkCom
-rsync -a --delete AirLib Unreal/Plugins/AirSim/Source
-rm -rf Unreal/Plugins/AirSim/Source/AirLib/src
-
-# Update all environment projects
-for d in Unreal/Environments/* ; do
-    [ -L "${d%/}" ] && continue
-    $d/clean.sh
-    mkdir -p $d/Plugins
-    rsync -a --delete Unreal/Plugins/AirSim $d/Plugins
-done
-
 set +x
-
 echo ""
-echo ""
-echo "=================================================================="
-echo " AirSim plugin is built! Here's how to build Unreal project."
-echo "=================================================================="
-echo "All environments under Unreal/Environments have been updated."
-echo ""
-echo "For further info see:"
-echo "https://github.com/Microsoft/AirSim/blob/master/docs/build_linux.md"
-echo "=================================================================="
-
-popd >/dev/null
+echo "************************************"
+echo " AirSim setup completed successfully "
+echo "************************************"
diff --git a/setup.sh b/setup.sh
index fd0b71e203..53cfa3dd2c 100755
--- a/setup.sh
+++ b/setup.sh
@@ -1,201 +1,124 @@
 #!/usr/bin/env bash
-set -x
 set -e
+set -x
 
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 pushd "$SCRIPT_DIR" >/dev/null
 
 downloadHighPolySuv=true
+DEBUG="${DEBUG:-false}"
 
 MIN_CMAKE_VERSION=3.10.0
-# On macOS, make sure we have a CMake that will support CMAKE_APPLE_SILICON_PROCESSOR.
-if [ "$(uname)" == "Darwin" ]; then
-    MIN_CMAKE_VERSION=3.19.2
-fi
-
-DEBUG="${DEBUG:-false}"
-function version_less_than_equal_to() { test "$(printf '%s\n' "$@" | sort -V | head -n 1)" = "$1"; }
-
-# brew gives error if package is already installed
-function brew_install() { brew list "$1" &>/dev/null || brew install "$1"; }
-
-# Parse command line arguments
-while [[ $# -gt 0 ]]
-do
-key="$1"
-
-case $key in
-    --debug)
-        DEBUG=true
-        ;;
-    --no-full-poly-car)
-        downloadHighPolySuv=false
-        shift # past value
-        ;;
-esac
 
+function version_less_than_equal_to() {
+    test "$(printf '%s\n' "$@" | sort -V | head -n 1)" = "$1"
+}
+
+# -------------------------------
+# Parse arguments
+# -------------------------------
+while [[ $# -gt 0 ]]; do
+    case "$1" in
+        --debug)
+            DEBUG=true
+            ;;
+        --no-full-poly-car)
+            downloadHighPolySuv=false
+            ;;
+    esac
+    shift
 done
 
-# llvm tools
-if [ "$(uname)" == "Darwin" ]; then # osx
-    brew update
-    # Update below line for newer versions
-    #brew install llvm@8
-    brew install llvm
-else #linux
-    sudo apt-get update
-    sudo apt-get -y install --no-install-recommends \
-        lsb-release \
-        rsync \
-        software-properties-common \
-        wget \
-        libvulkan1 \
-        vulkan-utils
-
-    #install clang and build tools
-    VERSION=$(lsb_release -rs | cut -d. -f1)
-    # Since Ubuntu 17 clang is part of the core repository
-    # See https://packages.ubuntu.com/search?keywords=clang-8
-    if [ "$VERSION" -lt "17" ]; then
-        wget -O - http://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
-        sudo apt-get update
-    fi
-    sudo apt-get install -y clang-8 clang++-8 libc++-8-dev libc++abi-8-dev
-fi
-
-if ! which cmake; then
-    # CMake not installed
-    cmake_ver=0
+# -------------------------------
+# Fedora dependencies
+# -------------------------------
+echo "Installing Fedora dependencies..."
+
+sudo dnf update -y
+sudo dnf install -y \
+    git \
+    cmake \
+    clang llvm \
+    gcc gcc-c++ \
+    make \
+    wget unzip rsync \
+    python3 python3-pip \
+    lsb-release \
+    mesa-libGL-devel mesa-libEGL-devel \
+    libX11-devel libXcursor-devel libXinerama-devel libXrandr-devel libXi-devel \
+    vulkan-loader vulkan-validation-layers \
+    mesa-dri-drivers mesa-vulkan-drivers
+
+# -------------------------------
+# Check CMake version
+# -------------------------------
+cmake_ver=$(cmake --version | head -n1 | awk '{print $3}')
+
+if version_less_than_equal_to "$cmake_ver" "$MIN_CMAKE_VERSION"; then
+    echo "CMake version too old: $cmake_ver"
+    echo "Please install a newer cmake manually."
+    exit 1
 else
-    cmake_ver=$(cmake --version 2>&1 | head -n1 | cut -d ' ' -f3 | awk '{print $NF}')
+    echo "CMake version OK: $cmake_ver"
 fi
 
-#give user perms to access USB port - this is not needed if not using PX4 HIL
-#TODO: figure out how to do below in travis
-# Install additional tools, CMake if required
-if [ "$(uname)" == "Darwin" ]; then # osx
-    if [[ -n "${whoami}" ]]; then #this happens when running in travis
-        sudo dseditgroup -o edit -a "$(whoami)" -t user dialout
-    fi
-
-    brew_install wget
-    brew_install coreutils
-
-    if version_less_than_equal_to "$cmake_ver" "$MIN_CMAKE_VERSION"; then
-        brew install cmake  # should get cmake 3.8
-    else
-        echo "Already have good version of cmake: $cmake_ver"
-    fi
-
-else #linux
-    if [[  -n "${whoami}" ]]; then #this happens when running in travis
-        sudo /usr/sbin/useradd -G dialout "$USER"
-        sudo usermod -a -G dialout "$USER"
-    fi
-
-    # install additional tools
-    sudo apt-get install -y build-essential unzip
-
-    if version_less_than_equal_to "$cmake_ver" "$MIN_CMAKE_VERSION"; then
-        # in ubuntu 18 docker CI, avoid building cmake from scratch to save time
-        # ref: https://apt.kitware.com/
-        if [ "$(lsb_release -rs)" == "18.04" ]; then
-            sudo apt-get -y install \
-                apt-transport-https \
-                ca-certificates \
-                gnupg
-            wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
-            sudo apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main'
-            sudo apt-get -y install --no-install-recommends \
-                make \
-                cmake
-
-        else
-            # For Ubuntu 16.04, or anything else, build CMake 3.10.2 from source
-            if [[ ! -d "cmake_build/bin" ]]; then
-                echo "Downloading cmake..."
-                wget https://cmake.org/files/v3.10/cmake-3.10.2.tar.gz \
-                    -O cmake.tar.gz
-                tar -xzf cmake.tar.gz
-                rm cmake.tar.gz
-                rm -rf ./cmake_build
-                mv ./cmake-3.10.2 ./cmake_build
-                pushd cmake_build
-                ./bootstrap
-                make
-                popd
-            fi
-        fi
-    
-    else
-        echo "Already have good version of cmake: $cmake_ver"
-    fi
-
-fi # End USB setup, CMake install
-
+# -------------------------------
+# Dialout group (PX4 / HIL optional)
+# -------------------------------
+if getent group dialout >/dev/null; then
+    sudo usermod -aG dialout "$USER" || true
+fi
 
+# -------------------------------
 # Download rpclib
+# -------------------------------
 if [ ! -d "external/rpclib/rpclib-2.3.0" ]; then
-    echo "*********************************************************************************************"
     echo "Downloading rpclib..."
-    echo "*********************************************************************************************"
-
+    rm -rf external/rpclib
+    mkdir -p external/rpclib
     wget https://github.com/rpclib/rpclib/archive/v2.3.0.zip
-
-    # remove previous versions
-    rm -rf "external/rpclib"
-
-    mkdir -p "external/rpclib"
     unzip -q v2.3.0.zip -d external/rpclib
     rm v2.3.0.zip
 fi
 
-# Download high-polycount SUV model
+# -------------------------------
+# Download high-poly SUV assets
+# -------------------------------
 if $downloadHighPolySuv; then
-    if [ ! -d "Unreal/Plugins/AirSim/Content/VehicleAdv" ]; then
-        mkdir -p "Unreal/Plugins/AirSim/Content/VehicleAdv"
-    fi
-    if [ ! -d "Unreal/Plugins/AirSim/Content/VehicleAdv/SUV/v1.2.0" ]; then
-            echo "*********************************************************************************************"
-            echo "Downloading high-poly car assets.... The download is ~37MB and can take some time."
-            echo "To install without this assets, re-run setup.sh with the argument --no-full-poly-car"
-            echo "*********************************************************************************************"
-
-            if [ -d "suv_download_tmp" ]; then
-                rm -rf "suv_download_tmp"
-            fi
-            mkdir -p "suv_download_tmp"
-            cd suv_download_tmp
-            wget  https://github.com/Microsoft/AirSim/releases/download/v1.2.0/car_assets.zip
-            if [ -d "../Unreal/Plugins/AirSim/Content/VehicleAdv/SUV" ]; then
-                rm -rf "../Unreal/Plugins/AirSim/Content/VehicleAdv/SUV"
-            fi
-            unzip -q car_assets.zip -d ../Unreal/Plugins/AirSim/Content/VehicleAdv
-            cd ..
-            rm -rf "suv_download_tmp"
+    SUV_DIR="Unreal/Plugins/AirSim/Content/VehicleAdv/SUV/v1.2.0"
+    if [ ! -d "$SUV_DIR" ]; then
+        echo "Downloading high-poly SUV assets (~37MB)..."
+        rm -rf suv_download_tmp
+        mkdir suv_download_tmp
+        cd suv_download_tmp
+        wget https://github.com/Microsoft/AirSim/releases/download/v1.2.0/car_assets.zip
+        unzip -q car_assets.zip -d ../Unreal/Plugins/AirSim/Content/VehicleAdv
+        cd ..
+        rm -rf suv_download_tmp
     fi
 else
-    echo "### Not downloading high-poly car asset (--no-full-poly-car). The default unreal vehicle will be used."
+    echo "Skipping high-poly SUV assets (--no-full-poly-car)"
 fi
 
-echo "Installing Eigen library..."
-
+# -------------------------------
+# Install Eigen
+# -------------------------------
 if [ ! -d "AirLib/deps/eigen3" ]; then
-    echo "Downloading Eigen..."
+    echo "Installing Eigen..."
     wget -O eigen3.zip https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.zip
     unzip -q eigen3.zip -d temp_eigen
     mkdir -p AirLib/deps/eigen3
     mv temp_eigen/eigen*/Eigen AirLib/deps/eigen3
-    rm -rf temp_eigen
-    rm eigen3.zip
+    rm -rf temp_eigen eigen3.zip
 else
-    echo "Eigen is already installed."
+    echo "Eigen already installed."
 fi
 
 popd >/dev/null
-
 set +x
+
 echo ""
 echo "************************************"
-echo "AirSim setup completed successfully!"
+echo " AirSim setup completed successfully "
 echo "************************************"
+