diff --git a/setup/setup_px4_sitl.sh b/setup/setup_px4_sitl.sh
index e2d4862..b8abd96 100644
--- a/setup/setup_px4_sitl.sh
+++ b/setup/setup_px4_sitl.sh
@@ -4,28 +4,18 @@
 REPO_URL="https://github.com/alireza787b/PX4-Autopilot-Me.git"
 BRANCH_NAME="px4xplane-sitl"
 UPSTREAM_URL="https://github.com/PX4/PX4-Autopilot.git"
-DEFAULT_CLONE_PATH="$HOME/testpx4"  # Default path is set here, but it can be customized by the user
+DEFAULT_CLONE_PATH="$HOME/testpx4"
 DEFAULT_CONFIG_FILE="$HOME/.px4sitl_config"
-DEFAULT_FALLBACK_IP="127.0.0.1"  # Fallback IP if no IP is detected or entered
-SCRIPT_NAME="px4xplane_script.sh"  # Name of the script
-
-# === Airframe Options for SITL ===
+DEFAULT_FALLBACK_IP="127.0.0.1"
+SCRIPT_NAME="px4xplane_script.sh"
 PLATFORM_CHOICES=("xplane_ehang184" "xplane_alia250" "xplane_cessna172" "xplane_tb2")
+REPAIR_MODE_FLAG="--repair"
 
-# === Check if Uninstall Option is Passed ===
-if [[ "$1" == "--uninstall" ]]; then
-    echo "Uninstalling global access for px4xplane..."
-    if [ -L "$HOME/bin/px4xplane" ]; then
-        rm "$HOME/bin/px4xplane"
-        echo "Removed global command from $HOME/bin."
-    elif [ -L "$HOME/.local/bin/px4xplane" ]; then
-        rm "$HOME/.local/bin/px4xplane"
-        echo "Removed global command from $HOME/.local/bin."
-    else
-        echo "Global command not found."
-    fi
-    echo "Uninstallation complete."
-    exit 0
+# === Flags and Arguments ===
+REPAIR_MODE=false  # Default: Skip repair if not explicitly asked
+if [[ "$1" == "$REPAIR_MODE_FLAG" ]]; then
+    REPAIR_MODE=true
+    shift
 fi
 
 # === Check for Custom Installation Directory Parameter ===
@@ -39,13 +29,13 @@ else
     CONFIG_FILE="$DEFAULT_CONFIG_FILE"
 fi
 
-# === Create the Parent Directory if it Doesn't Exist ===
+# === Create Parent Directory if Needed ===
 if [ ! -d "$INSTALL_PATH" ]; then
     echo "Directory $INSTALL_PATH does not exist. Creating it..."
     mkdir -p "$INSTALL_PATH"
 fi
 
-# === Ensure the Script is Copied to the Parent Directory (Not Inside the Repo) ===
+# === Copy Script to Parent Directory ===
 SCRIPT_PATH="$INSTALL_PATH/$SCRIPT_NAME"
 if [ "$(basename "$0")" != "$SCRIPT_NAME" ]; then
     echo "Copying script to $SCRIPT_PATH..."
@@ -53,73 +43,85 @@ if [ "$(basename "$0")" != "$SCRIPT_NAME" ]; then
     chmod +x "$SCRIPT_PATH"
 fi
 
+# === Distinguish Important Prompts ===
+highlight() {
+    echo -e "\n\033[1;33m$1\033[0m\n"  # Yellow bold text
+}
+
 # === Introductory Information ===
-echo "----------------------------------------------------------"
-echo "PX4 X-Plane SITL Setup Script"
-echo "Author: Alireza Ghaderi"
-echo "GitHub Repo: alireza787b/px4xplane"
-echo "LinkedIn: alireza787b"
-echo "Date: August 2024"
-echo "----------------------------------------------------------"
-echo "This script helps you set up PX4 SITL with X-Plane integration."
-echo "It will clone the repository, install dependencies, and build SITL."
-echo "You will need to download the PX4 X-Plane plugin from the release"
-echo "section of this repository: https://github.com/alireza787b/px4xplane"
-echo "Please ensure to follow the README instructions and video tutorials."
-echo "This is a temporary setup until the integration is merged officially with PX4."
-echo "----------------------------------------------------------"
-echo "Press Enter to start the process (default: continue in 5 seconds)..."
+highlight "----------------------------------------------------------"
+highlight "PX4 X-Plane SITL Setup Script"
+highlight "Author: Alireza Ghaderi"
+highlight "GitHub Repo: alireza787b/px4xplane"
+highlight "LinkedIn: alireza787b"
+highlight "Date: August 2024"
+highlight "----------------------------------------------------------"
+highlight "This script helps you set up PX4 SITL with X-Plane integration."
+highlight "You will need to download the PX4 X-Plane plugin from the release section of this repository: https://github.com/alireza787b/px4xplane"
+highlight "This is a temporary setup until the integration is merged officially with PX4."
+highlight "----------------------------------------------------------"
+highlight "Press Enter to start the process (default: continue in 5 seconds)..."
 read -t 5 -r
 
 # === Prerequisites Check ===
-echo "Checking for required tools..."
+highlight "Checking for required tools..."
 if ! command -v git &> /dev/null; then
     echo "Git is not installed. Please install Git and run the script again."
     exit 1
 fi
 
-# === Clone the Repository ===
-if [ ! -d "$CLONE_PATH/.git" ]; then
-    echo "Cloning the repository from $REPO_URL into $CLONE_PATH..."
-    git clone --recursive "$REPO_URL" "$CLONE_PATH"
+# === Simplified Process for Subsequent Runs ===
+if [ -d "$CLONE_PATH" ] && [ -f "$CONFIG_FILE" ] && [ "$REPAIR_MODE" = false ]; then
+    highlight "Detected existing configuration. Skipping setup and proceeding to build..."
 else
-    echo "Repository already cloned at $CLONE_PATH."
-fi
+    # === Full Repair Mode (If Flag is Set) ===
+    if [ "$REPAIR_MODE" = true ]; then
+        highlight "Repair mode enabled. Running full setup and pulling the latest code..."
+    fi
 
-cd "$CLONE_PATH" || exit
-git checkout "$BRANCH_NAME"
+    # === Clone the Repository ===
+    if [ ! -d "$CLONE_PATH/.git" ]; then
+        highlight "Cloning the repository from $REPO_URL into $CLONE_PATH..."
+        git clone --recursive "$REPO_URL" "$CLONE_PATH"
+    else
+        echo "Repository already cloned at $CLONE_PATH."
+    fi
 
-# === Add Upstream and Fetch Tags ===
-echo "Adding upstream repository and fetching tags..."
-git remote add upstream "$UPSTREAM_URL"
-git fetch upstream
-git fetch upstream --tags
+    cd "$CLONE_PATH" || exit
+    git checkout "$BRANCH_NAME"
 
-# If tag issue persists, create a missing tag manually
-if ! git tag | grep -q "v1.14.0-dev"; then
-    echo "Creating missing tag v1.14.0-dev..."
-    git tag v1.14.0-dev
-fi
+    # === Add Upstream and Fetch Tags ===
+    highlight "Adding upstream repository and fetching tags..."
+    git remote add upstream "$UPSTREAM_URL"
+    git fetch upstream
+    git fetch upstream --tags
 
-# === Run the ubuntu.sh Script ===
-echo "Running setup script to install dependencies..."
-bash Tools/setup/ubuntu.sh
-echo "Setup complete. For WSL users, it's recommended to exit WSL, restart it, and rerun the script."
+    # If tag issue persists, create a missing tag manually
+    if ! git tag | grep -q "v1.14.0-dev"; then
+        echo "Creating missing tag v1.14.0-dev..."
+        git tag v1.14.0-dev
+    fi
+
+    # === Run the ubuntu.sh Script ===
+    highlight "Running setup script to install dependencies..."
+    bash Tools/setup/ubuntu.sh
+    echo "Setup complete. For WSL users, it's recommended to exit WSL, restart it, and rerun the script."
 
-# === Fetch Latest Changes ===
-echo "Fetching the latest changes from the remote repository..."
-git fetch --all
-git pull origin "$BRANCH_NAME"
+    # === Fetch Latest Changes ===
+    highlight "Fetching the latest changes from the remote repository..."
+    git fetch --all
+    git pull origin "$BRANCH_NAME"
 
-# === Initialize and Update Submodules ===
-echo "Updating submodules..."
-git submodule update --init --recursive
+    # === Initialize and Update Submodules ===
+    highlight "Updating submodules..."
+    git submodule update --init --recursive
+fi
 
 # === Clean Build Options ===
-echo "Do you want to run 'make clean' to clean the build directory? Press Enter to skip (default) or type 'y' to clean: "
+highlight "Do you want to run 'make clean' to clean the build directory? Press Enter to skip (default) or type 'y' to clean: "
 read -t 5 -r CLEAN_BUILD
 
-echo "Do you want to run 'make distclean' to reset the build directory? Press Enter to skip (default) or type 'y' to reset: "
+highlight "Do you want to run 'make distclean' to reset the build directory? Press Enter to skip (default) or type 'y' to reset: "
 read -t 5 -r DISTCLEAN_BUILD
 
 if [[ "$CLEAN_BUILD" =~ ^[Yy]$ ]]; then
@@ -137,14 +139,14 @@ if grep -qEi "(Microsoft|WSL)" /proc/version &> /dev/null; then
     
     if [ -f "$CONFIG_FILE" ]; then
         source "$CONFIG_FILE"
-        echo "Detected previous configuration. Use stored Windows IP ($PX4_SIM_HOSTNAME) or enter a new one (press Enter to keep default: $PX4_SIM_HOSTNAME in 10 seconds):"
+        highlight "Detected previous configuration. Use stored Windows IP ($PX4_SIM_HOSTNAME) or enter a new one (press Enter to keep default: $PX4_SIM_HOSTNAME in 10 seconds):"
     else
-        echo "Auto-detected Windows IP: $AUTO_DETECTED_IP"
+        highlight "Auto-detected Windows IP: $AUTO_DETECTED_IP"
         PX4_SIM_HOSTNAME="$AUTO_DETECTED_IP"
     fi
     
     echo "Tip: You can find your Windows IP by opening PowerShell and typing 'ipconfig'. Look for the IP address under the section titled 'Ethernet adapter vEthernet (WSL)' or something similar."
-    echo "Please enter the IP address if you want to change the detected one (press Enter to accept detected IP or enter a new one):"
+    highlight "Please enter the IP address if you want to change the detected one (press Enter to accept detected IP or enter a new one):"
     
     read -t 10 -r NEW_IP
     if [ -n "$NEW_IP" ]; then
@@ -153,7 +155,7 @@ if grep -qEi "(Microsoft|WSL)" /proc/version &> /dev/null; then
     
     # If no IP is set, default to the predefined fallback IP (localhost or any other)
     if [ -z "$PX4_SIM_HOSTNAME" ]; then
-        echo "No IP detected. Falling back to predefined IP: $DEFAULT_FALLBACK_IP (this only works if X-Plane is also running on Linux)."
+        highlight "No IP detected. Falling back to predefined IP: $DEFAULT_FALLBACK_IP (this only works if X-Plane is also running on Linux)."
         PX4_SIM_HOSTNAME="$DEFAULT_FALLBACK_IP"
     fi
     
@@ -171,7 +173,7 @@ fi
 
 # === Global Access Setup (Optional) ===
 if ! command -v px4xplane &> /dev/null; then
-    echo "Do you want to set up global access to the 'px4xplane' command so you can run this script from anywhere?"
+    highlight "Do you want to set up global access to the 'px4xplane' command so you can run this script from anywhere?"
     echo "Press Enter to confirm (default: yes) or type 'n' to skip."
     read -t 10 -r GLOBAL_SETUP
     if [[ -z "$GLOBAL_SETUP" || "$GLOBAL_SETUP" =~ ^[Yy]$ ]]; then
@@ -186,7 +188,7 @@ if ! command -v px4xplane &> /dev/null; then
             source "$HOME/.bashrc"
         fi
         chmod +x "$SCRIPT_PATH"
-        echo "Global access to 'px4xplane' command set up successfully."
+        highlight "Global access to 'px4xplane' command set up successfully."
         echo "You can now run 'px4xplane' from anywhere to execute this script."
     else
         echo "Global access setup skipped."
@@ -194,28 +196,28 @@ if ! command -v px4xplane &> /dev/null; then
 fi
 
 # === Platform Selection and Build ===
-echo "Please select the platform to build:"
+highlight "Please select the platform to build:"
 select PLATFORM in "${PLATFORM_CHOICES[@]}"; do
     if [[ " ${PLATFORM_CHOICES[@]} " =~ " ${PLATFORM} " ]]; then
-        echo "You have selected $PLATFORM. Building..."
+        highlight "You have selected $PLATFORM. Building..."
         LAST_PLATFORM="$PLATFORM"
         echo "LAST_PLATFORM=$LAST_PLATFORM" >> "$CONFIG_FILE"
         make px4_sitl_default "$PLATFORM"
         break
     else
-        echo "Invalid selection. Please choose a valid platform."
+        highlight "Invalid selection. Please choose a valid platform."
     fi
 done
 
-echo "Make sure that the selected airframe is defined and selected inside X-Plane's menu and loaded."
-echo "Follow the video tutorials and instructions for more guidance."
+highlight "Make sure that the selected airframe is defined and selected inside X-Plane's menu and loaded."
+highlight "Follow the video tutorials and instructions for more guidance."
 
 # === Final Completion Message ===
-echo "Script completed. Summary:"
-echo "- Repository cloned: $CLONE_PATH"
-echo "- Dependencies installed"
-echo "- Submodules updated"
-echo "- Platform built: $PLATFORM"
-echo "You can now proceed with running the SITL simulation."
+highlight "Script completed. Summary:"
+highlight "- Repository cloned: $CLONE_PATH"
+highlight "- Dependencies installed"
+highlight "- Submodules updated"
+highlight "- Platform built: $PLATFORM"
+highlight "You can now proceed with running the SITL simulation."
 
 # === End of Script ===