UAV equations of motion

I am new to Gazebo and I need your advice.
is it possible to include my own equations of motion for the UAV (Quadrotor) in gazebo? from Pix hawk (PX4) project documentation it seems that there are different models of UAVs in Gazebo, the one that I am interested in is ‘Quadrotor Wide’. would it be possible to incorporate the equations of motion into that model in order to test and validate their performance? the equations are used to build a Matlab model Of the quadrotor.