iris_with_standoffs have the files for the Iris 3DR model in Gazebo.
iris_plugin_MPC is a plugin that implements a MPC to control the altitude of the Iris.
iris_plugin_MPC_on_simulink is a plugin that sends and receives data from the Iris to a MPC running on Simulink.
Software Versions:
ROS Kinetic
Gazebo 7
Simulink 8.7
MATLAB R2016a