Integrating PX4 with ignition gazebo

I am trying to design a plugin suite for MAVLink SITL and HITL using PX4-firmware, ignition gazebo. In simple terms, a flight simulator to launch VTOLs, drones, and other UAV’s using PX4-Autopilot firmware in ignition gazebo.

Already, there exists a plugin for PX4 and gazebo but since gazebo and ignition both have significantly different architecture and API, I am slightly confused about how to integrate PX4 with ignition gazebo.

Any suggestion is welcome.


I’m not familiar with PX4. If the question is about how to write a plugin for PX4 in Ignition, these tutorials might help: Ignition Gazebo: Tutorials
In particular, the Create System Plugins one and the Plugin migration one.