I'm looking to simulate a quadcopter in Gazebo. I have gone through the Gazebo tutorial on aerodynamics and understood the physics of it, but at the end of the tutorial, they only have instructions for using the plugin with a fixed-wing model. I have searched quite a bit but couldn't find one pertaining to quadcopters or other propeller based models. If someone could guide me in the right direction, it would be awesome!

TIA!