@fnoop Pi3 is ARMv8, but 32-bit armhf may be better because of 1 GiB RAM.
@khancyr i recommend to use Kinetic because only that version has recent mavros version.
Note that Debian may be issued with python-future problem (OSRF Jenkins can't find that package in jessie-updates, perhaps need to use pip?).
Problem, that just placing a systemd unit is not enough, you need bringup package, robot description (URDF, model).
I done some steps in https://github.com/vooon/rarog , but that is plane, Pi2, Ubuntu 14.04.
And i stopped development when i completely crash my plane (and still do not replace it ).
So you need two bringup packages with one for copter and one for plane.