How to read from multiple distance sensors in SITL mode?

PX4 Autopilot Configuration & Flight Modes ⚙️
1

Hey,

I’m simulating Iris drone with added multiple distance sensors and I want to read from all of them, because currently I’m reading from only one and I don’t know how to define them in PX4 autopilot…

sdf file:

<sdf version='1.6'>
  <model name='iris_with_4sensors'>
    <include>
      <uri>model://iris</uri>
    </include>
    <include>
      <name>sonar_front</name>
      <uri>model://sonar</uri>
      <pose>0.08 0 -0.03 0 0 3.141592</pose>
    </include>
    <include>
      <name>sonar_left</name>
      <uri>model://sonar</uri>
      <pose>0 0.08 -0.03 0 0 -1.570796</pose>
    </include>
    <include>
      <name>sonar_right</name>
      <uri>model://sonar</uri>
      <pose>0 -0.08 -0.03 0 0 1.570796</pose>
    </include>
    <include>
      <name>sonar_rear</name>
      <uri>model://sonar</uri>
      <pose>-0.08 0 -0.03 0 0 0</pose>
    </include>
    <include>
      <name>sonar_up</name>
      <uri>model://sonar</uri>
      <pose>0 0 -0.03 0 1.570796 3.141592</pose>
    </include>
    <include>
      <name>sonar_down</name>
      <uri>model://sonar</uri>
      <pose>0 0 0.03 0 -1.570796 3.141592</pose>
    </include>
    <joint name="sonar_front_joint" type="fixed">
      <child>sonar_front::link</child>
      <parent>iris::base_link</parent>
    </joint>
    <joint name="sonar_right_joint" type="fixed">
      <child>sonar_right::link</child>
      <parent>iris::base_link</parent>
    </joint>
    <joint name="sonar_rear_joint" type="fixed">
      <child>sonar_rear::link</child>
      <parent>iris::base_link</parent>
    </joint>
    <joint name="sonar_left_joint" type="fixed">
      <child>sonar_left::link</child>
      <parent>iris::base_link</parent>
    </joint>
    <joint name="sonar_up_joint" type="fixed">
      <child>sonar_up::link</child>
      <parent>iris::base_link</parent>
    </joint>
    <joint name="sonar_down_joint" type="fixed">
      <child>sonar_down::link</child>
      <parent>iris::base_link</parent>
    </joint>
  </model>
</sdf>
2

So, I know PX4 flight stack can’t support multiple distance sensors at this moment, so I want to modify the stack to allow that. Where is the code, which connects sensors to the stack?