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In order to interface the Software In The Loop simulation of ardupilot to Gazebo (3D simulator integrated in ROS desktop environment) a plugin is required: https://github.com/swiftgust/ardupilot_gazebo.
Additionally to the interface between the 3D simulation and the SITL this repo provides some useful models (that could be used as base for our specific vehicle model).
[[File:ArdupilotSITL-Gazebo.png]]
==Information about SITL models==
When starting sim_vehicle.py the possible frame choices are listed and specified in the pysim/vehicleinfo.py script which tells to the ardupilot simulator the parameters to be loaded for that specific frame.