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How to do quadcopter simulation with Gazebo?

Hello, I am completely new to Gazebo and looking for advice.

I have developed a mathematical model for a quadcopter. Now I would like to do a simulation with a quadcopter in Gazebo, and compare the results to my own model. I would like to be able to control the rotor speeds for the individual motors - and then log information about x y z, roll pitch yaw.

Does Gazebo have a such quadcopter model? And should I write my own plugin to control rotor speed?

Thanks for your time Soeren