Using ardupilot sitl with airsim

I’ve followed this tutorial on setting up ardupilot with airsim:

I can successfully give commands from mavproxy to airsim, although the aircraft seems to move as if it were drunk (seems like an issue with the latest copter version).

I’m very confused as to how to use airsim’s and other API’s to control the drone, as the documentation goes into very little detail on this.

I can run the ‘ -f airsim-copter -v ardupilot’ to control the vehicle via a mavproxy console, but should i then connect to sitl using pymavlink/dronekit using the udp address or is there another script I should run for my own apis?

As for getting camera information, should I then use airsim’s API to access that?