I am currently working on control algorithms of a convertible VTOL aircraft which is a combination of a hexacopter and an fixed-wing (not tilt-rotor). I am trying to find a good way to simulate my control law using HITL simulation. It looks like there are basically two choices: Gazebo and AirSim. However I am feeling really indecisive on which one should I use.
More specifically, things I want to simulate are:
1. Disturbances(torques and forces) in multi-copter flights which are generated by the airfoils because of winds(uniform or possibly non-uniform with stochastic params).
2. Fixed-wing aerodynamics.
3. Complicated dynamics during transition.
Based on my researches, neither Gazebo nor AirSim is satisfactory. AirSim does not have a fixed-wing mode right now. Gazebo has a fixed-wing mode but it uses experimental data and look up tables for its aerodynamics engine which I think can also be implemented in AirSim using the same strategy. AirSim has implemented a model for angular drag but its approximation of the aircraft by a box makes it far away from real, while I do not see angular drag in Gazebo. Their sensor and world models look similar to each other(maybe AirSim is slightly better?) but this is not my main concern.
I am more like a Matlab guy with limited C++ experience. I have used gazebo to simulated an adaptive PID VTOL controller with PX4 in SITL but what I did is just modify some .cpp files such as mc_att_control. So I will really appreciate it if someone could tell me which simulator is more suitable for what I am trying to do.