Multi vehicle simulation in v1.14

PX4 Autopilot
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I read in documentation for gz gazebo multi vehicle simulation is like so (no ROS):


Multi-Vehicle Simulation with Gazebo
This topic explains how to simulate multiple UAV vehicles using Gazebo (Gz) and SITL.

Note

Multi-Vehicle Simulation with Gazebo is only supported on Linux.

Gazebo makes it very easy to setup multi-vehicle scenarios (compared to other simulators).

First build PX4 SITL code using:

make px4_sitl
Each instance of PX4 can then be launched in its own terminal, specifying a unique instance number and its desired combination of environment variables:

ARGS ./build/px4_sitl_default/bin/px4 [-i <instance>]
<instance>: The instance number of the vehicle.
Each vehicle must have a unique instance number. If not given, the instance number defaults to zero.
When used with PX4_GZ_MODEL, Gazebo will automatically pick a unique model name in the form ${PX4_GZ_MODEL}_instance.
ARGS: A list of environmental variables, as described in Gazebo Simulation > Usage/Configuration Options.
This allows for greater flexibility and customization.

Now, I want to be able to simulate 2 different vehicles (gz_rc_cessna - plane, x500 - vtol), via MAVSDK. So I would want to understand when I create two separate SITL, what would be the ports with which they would be created? Do both the vehicles talk to GCS on 14550, and do the vehicles API port become 14541 and 14542?

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