APM with gazebo

erle robotics’s gazebo plug in seems to be the only gazebo sitl for the APM stack (or maybe I miss something)

can I simulates under updated firmware? (e.g AC 3.5)

(https://github.com/erlerobot/ardupilot_sitl_gazebo_plugin) this branch looks kind of outdated

and is there a way to test multiple vehicle in gazebo?

like this on PX4 https://dev.px4.io/en/simulation/multi-vehicle-simulation.html

I can’t find any udp adress settings or SDF files to duplicate

and these are the similar issues