Clarification on Ports and Data Mapping in PX4-JSBSim Bridge

[MyatToe]

Hi,

I'm currently integrating the PX4-JSBSim bridge and have a couple of questions:

I understand that TCP port 4560 is used by default. Is UDP port 14560 also involved in the communication? How can I check which ports are actively used during simulation?

I'm a bit confused about actuator and sensor mappings. Specifically:

How are PX4 actuators mapped to JSBSim flight dynamics?

How is sensor data (e.g., IMU, GPS, barometer) mapped from JSBSim flight states to MAVLink messages?

In particular, how do the XML configuration files and the MavlinkInterface handle each sensor plugin? I’d appreciate clarification on how the data flows through these components.

Any documentation references or explanations would be very helpful. Could you please answer me @Jaeyoung-Lim ?

Thank you so much for your effort in PX4-JSBSim bridge development.