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Colleagues and me are actually looking into that too right now. Currently, I have two possible approaches in mind (not tested yet):
See also this related question: http://answers.ros.org/question/3489/applying-wrench-to-object-and-update-rate-of
I'll try to clean up our basic quadrotor model for gazebo a little and upload it in the next 2 or 3 days. I'm not aware of an existing available implementation of a ROS enabled quadrotor sim.