Adapting Copter 3.3.3 for Gazebo-MavProxy-Ros simulation


I’ve modified several files of a Copter 3.3.3 version I have of Ardupilot, in order to implement new flight modes I need. Now, I would like to test these new flight modes on Gazebo/Ros, in a similar way as the one proposed in this tutorial, from Erlerobots,

but by using this 3.3.3 version. However, by noticing differences in the AP_HAL functions of the Copter 3.3.3 version and the Ardupilot v3.4 version, I saw that may be adapting gazebo for Copter 3.3.3 version could be much more difficult than creating these modes on the Ardupilot 3.4 version.

Could someone with a little bit of expereince in both versions please roughly coment on what I would need to change in order to run the simulation in Copter 3.3.3 and if I would be better off adding modes to Ardupilot v3.4

Thanks in advance!