PX4 is a opensource autopilot project that is used widely in the industry and academia
PX4 provides a Software-In-The-Loop simulation environment so that developers can test / operate vehicles with the PX4 Firmware easily without going out to fly.
PX4 simulation environment now supports Ignition Gazebo Edifice: Add ignition gazebo support for PX4 Software-In-The-Loop simulations by Jaeyoung-Lim · Pull Request #17889 · PX4/PX4-Autopilot · GitHub
Video is shown below:
The simulation can be simply run by running the following command at the root of the PX4-Autopilot Project
make px4_sitl ignition