Gazebo Simulation use of DO_SET_ACTUATOR airframe configuration

Hi all,

I’m new to PX4, and Gazebo and I’m creating a custom rover model for simulation and controlling it with MAVSDK/MAVLINK.

Navigation works fine, but I need to be able to control a servo, at first I thought of putting the following line in my airframe :
param set-default SIM_GZ_SV_FUNC2 202

and then use MAV_CMD_DO_SET_SERVO to control it.

But I saw that DO_SET_SERVO is no longer supported and that I should use DO_SET_ACTUATOR.
But at the moment I’m struggling to understand what I should put in my airframe to map the “Actuator 1” to the servo of my gazebo model to then be able to use the DO_SET_ACTUATOR.

Because from what I saw there is only :
SIM_GZ_SV_FUNC*
SIM_GZ_WH_FUNC*
SIM_GZ_EC_FUNC*
but no SIM_GZ_AC_FUNC* or something similar ?

Does anyone know how to do it ? or have any clue to where to look for it ?

Thanks in advance for any help !

I found the answer !

I was misunderstanding how the mapping of the airframe works.
SIM_GZ_SV_FUNC* represent the servo from Gazebo and the value after is the actuator from px4. (values : Parameter Reference | PX4 User Guide (main))

So to map my “servo 2” from gazebo to the “actuator 1” of px4 I have to write the following line in my airframe :
param set-default SIM_GZ_SV_FUNC2 301