Lift Drag Plugin vs. Motor Model Plugin

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Hello Gazebo Community,

I am currently trying to write my own SDF File to subscribe my own drone.

Coming from ArduPilot or Pixhawk there are two ways to describe my drone, i feel like.

ArduPilot always uses the "LiftDragPlugin" even for their Copter descriptions, but Pixhawk uses the Motor "Motor_Model" Plugin.

Which one to use? I dont find any information inside the Iris sdf file from pixhawk about lift for the described drone. So i feel like it has to be inside the motor plugin, but there is no lift variable inside of that.

Can someone explain which plugin to use when?

thanks alot!