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To summarize all the comments here.

DJI has ROS related onboard SDK here. The lastest version 3.3 has improved in many ways including better documentation. Before it was just mess.

The DJI's simulation supports only Windows/Mac. So to try it out one need either another Windows/Mac computer connected to autopilot or virtual machine. DJI ROS onboard SDK will run classically on Linux system.

Here's a git repo which integrates DJI copter in Gazebo (matrice 100).

I wouldn't recommend using outdated DJI firmware because DJI won't let you fly with one.