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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.
== General Structure Overview ==
[[File:px4_sitl_overview.png|920px]]
Taken from [https://dev.px4.io/en/simulation/#sitl-simulation-environment https://dev.px4.io/en/simulation/#sitl-simulation-environment].
=Useful Links=
