Hi,
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,
http://erlerobotics.com/docs/Simulation/Vehicles/Erle-Copter/Tutorial_1_Launching_Erle-Copter.html
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!