mrsim-gazebo is a gazebo plugin for multi-rotor simulation.

It emulates the tk3-paparazzi software running on paparazzi hardware via a
pty implementing the telekyb3 communication protocol and all its features, so
that the hardware can be fully emulated.

The rotor dynamics are simulated using a realistic motor model and a simple
thrust/drag propeller model. The same hardware velocity controller as
implemented in the tk3-mikrokopter software controls the propellers
velocities. Then, at the user's choice, either the geometry of a model can be
used to compute the total wrench applied to the rigid body, or an explicit
allocation matrix can be specified.
