Simulating APM-based drones is now available in Gazebo simulators. As example this post (http:&#x2F;&#x2F;diydrones.com&#x2F;profiles&#x2F;blogs&#x2F;simulate-erle-copter-in-gazebo?xg_source=activity), which includes links to tutorials about how to do it using Erle-Copter drone
Simulate drones using Gazebo