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First off, this sounds like an awesome plugin/set of plugins. The process of adding a new plugin to gazebo is pretty straightforward. Make a pull request the the OSRF/gazebo repository adding the plugins. You'll want to add the plugin code, a world file for testing, and probably models to the model repository.

Another thing to consider is do you need any extra libraries for this to work? You mention some Mavlink and arduipilot things, which I know nothing about, but may make this trickier. However, if it only relies on gazebo and all of it's API's then you're fine.

Opening an Issue on the OSRF/gazebo repo would be a better place to discuss this.