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Because of the good integration of ROS with Gazebo, we needed flight stack that could support this choice. The PX4 flight-stack, especially concering the Software-In-The-Loop simulation seems to be better developed and documented than the one of ardupilot.
=Useful Links=
*[https://medium.com/@Dronesmith/why-we-chose-px4-vs-apm-as-lucis-default-firmware-ea39f4514bef Lucy developers choose PX4 against ArduPilot]
