diff --git a/libraries/SITL/SIM_PS_RPLidarA1.h b/libraries/SITL/SIM_PS_RPLidarA1.h
new file mode 100644
index 0000000000..457206733f
--- /dev/null
+++ b/libraries/SITL/SIM_PS_RPLidarA1.h
@@ -0,0 +1,56 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  Simulator for the RPLidarA2 proximity sensor
+
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:rplidara1 --speedup=1 -l 51.8752066,14.6487840,0,0 --map
+
+param set SERIAL5_PROTOCOL 11
+param set PRX1_TYPE 5
+reboot
+
+arm throttle
+rc 3 1600
+
+# for avoidance:
+param set DISARM_DELAY 0
+param set AVOID_ENABLE 2 # use proximity sensor
+param set AVOID_MARGIN 2.00  # 2m
+param set AVOID_BEHAVE 0 # slide
+param set OA_DB_OUTPUT 3
+param set OA_TYPE 2
+reboot
+mode loiter
+script /tmp/post-locations.scr
+arm throttle
+rc 3 1600
+rc 3 1500
+rc 2 1450
+
+*/
+
+#pragma once
+
+#include "SIM_PS_RPLidar.h"
+
+namespace SITL {
+
+class PS_RPLidarA1 : public PS_RPLidar {
+public:
+    uint8_t device_info_model() const override { return 0x18; }
+    uint8_t max_range() const override { return 8.0f; };
+};
+
+}