VTOL quadplane with SITL and Gazebo

Good evening @all, I am trying to simulate a quadplane / vtol in Gazebo but I am not successful. I understand that you have to modify the standard_vtol PX4 model to work with the Ardupilot plugin but I don’t know that, my level of knowledge in Gazebo today is limited. Has anyone done it or does it have the modified model files? Can someone help me with this? For me it would be a great help in order to understand the system somewhat better and in the face of my final studies.


I’m also trying to do the same, did you succeed?

I was not lucky.

With PX4 you can, but it is not Ardupilot. If you do, I would be very grateful if you could tell me how you did it.