New Frame Testing in Sitl

Hey everyone,

I’m trying to make my own frame and test it in Sitl first.
I’ve made a new frame class and frame type in the file “AP_MotorsMatrix” and also add this frame class and frame type to the file “AP_Motor_class”.
Then, I’ve edited the file “” to add my model and also made a new .parm file in the folder “ardupilot/Tools/autotest/default_params” (copied the .parm from copter with the new name and changed the frame type and frame class).
When I try to launch my model with Sitl, he tell me that he doesn’t found my model. So I’ve tried to add model “+” to see if it help, but not much.

My questions are:
How do you make this “model” from Sitl? Is it different from frame type and frame class?
How can I configure the .parm file? Is there any tutorial out there about this topic? I’ve only found the “full parameter list” from ArduCopter and ArduPlane so far.
Here are the file I’ve modified.

AP_MotorsMatrix.cpp (50.1 KB) AP_Motors_Class.h (13.4 KB)
vehicleinfo.txt (15.5 KB)
penta.parm (2.0 KB)

Thank you for your help.

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