Multiple vehicles with single istance of SITL

Hi everyone,
there's a way to control multiple vehicles with one single instance of SITL? So far I can run one instance of SITL for every vehicle through the option "-I" of command arducopter.

Thanks

Start with the arducopter command and its -I option, which the issue identifies as the current way to run separate SITL instances. Determine whether one SITL instance can support multiple vehicles, and define whether the outcome should be a documented usage path or a new capability.

Written by the indexing model from the issue text.