For the past few weeks, I have been learning the arducopter firmware and made some modifications to it. I used the master build of arducopter 4.0 and built it successfully and managed to flash and test it with a pixhawk on hand.
But for future tests, I would like to test the firmware using SITL. I went through the developer guide and got SITL running and even got the gazebo iris demo working and played around with it. But now how do I use my modified firmware in SITL to test it.
My goal would be to test the modified firmware in SITL and if possible also use gazebo to test the firmware with some flight missions.
Any help would be much appreciated.