Current state of GAZEBO simulations? Problems with current branch

What’s the current state of Gazebo simulation?

I have built this branch of gazebo:

and I was able to connect using:
gazebo worlds/
and frame: -f gazebo-iris

but copter crashes immediately after taking off (using guided mode or loiter). What’s wrong? How to run this plugin?

I’m using this one currently with some success:

Edit: Seems like it is merged now as well in 8.0.