diff --git a/libraries/AP_HAL_SITL/SITL_State_common.cpp b/libraries/AP_HAL_SITL/SITL_State_common.cpp
index 320fcf9615..10b2103fb0 100644
--- a/libraries/AP_HAL_SITL/SITL_State_common.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State_common.cpp
@@ -233,6 +233,12 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const
         sitl_model->set_ie24(&_sitl->ie24_sim);
         return &_sitl->ie24_sim;
 #endif // HAL_BUILD_AP_PERIPH
+    } else if (streq(name, "jre")) {
+        if (jre != nullptr) {
+            AP_HAL::panic("Only one jre at a time");
+        }
+        jre = new SITL::RF_JRE();
+        return jre;
     } else if (streq(name, "gyus42v2")) {
         if (gyus42v2 != nullptr) {
             AP_HAL::panic("Only one gyus42v2 at a time");
@@ -315,6 +321,9 @@ void SITL_State_Common::sim_update(void)
     if (benewake_tfmini != nullptr) {
         benewake_tfmini->update(sitl_model->rangefinder_range());
     }
+    if (jre != nullptr) {
+        jre->update(sitl_model->rangefinder_range());
+    }
     if (nooploop != nullptr) {
         nooploop->update(sitl_model->rangefinder_range());
     }
diff --git a/libraries/AP_HAL_SITL/SITL_State_common.h b/libraries/AP_HAL_SITL/SITL_State_common.h
index dab0cb0e5a..bed95fd9ce 100644
--- a/libraries/AP_HAL_SITL/SITL_State_common.h
+++ b/libraries/AP_HAL_SITL/SITL_State_common.h
@@ -17,6 +17,7 @@
 #include <SITL/SIM_RF_Benewake_TFmini.h>
 #include <SITL/SIM_RF_NoopLoop.h>
 #include <SITL/SIM_RF_TeraRanger_Serial.h>
+#include <SITL/SIM_RF_JRE.h>
 #include <SITL/SIM_RF_LightWareSerial.h>
 #include <SITL/SIM_RF_LightWareSerialBinary.h>
 #include <SITL/SIM_RF_Lanbao.h>
@@ -126,6 +127,8 @@ public:
     SITL::RF_Benewake_TF02 *benewake_tf02;
     // simulated Benewake tf03 rangefinder:
     SITL::RF_Benewake_TF03 *benewake_tf03;
+    //simulated JAE JRE rangefinder:
+    SITL::RF_JRE *jre;
     // simulated Benewake tfmini rangefinder:
     SITL::RF_Benewake_TFmini *benewake_tfmini;
     //simulated NoopLoop TOFSense rangefinder: