jMAVSim HIL and Arducopter

Hello, I am relatively new to Multicopters and I am trying to use HITL using jMAVSim. My question is if I can use the Arducopter Firmware for jMAVSim or if it is restricted to the PX4 Flight Stack.
I followed the instructions on but whenever I start qGroundControl I get an error after the automatic setup saying

Parameters missing from firmware: 1:FRAME, 1:FRAME, 1:FRAME, -1:FRAME, -1:FRAME. You may be running a version of firmware QGC does not work correctly with or your firmware has a bug in it.

I am using QGroundControl v3.1.3 and Arducopter 3.5.0-rc4.
Is it just the wrong firmware I am using or am I doing something wrong?

I would appreciate any help. Thanks in advance.