Change on frame model (arducopter)

Hello everybody,

We're two aeronautical students new in the ardupilot world. We were wondering if there would be any chance in order to change the aircraft models, it is to say, change the definition of frame, engine, parameters distribution, to model a different vehicle in the Software in the Loop simulation. 

One example: change the distance to the rotors, change their power, change their spin, etc.

We would be very glad if you could sent us some example or an index to another post where it was explained before. 

Thank you in advance.

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