diff --git a/libraries/SITL/SIM_PS_RPLidarA2.cpp b/libraries/SITL/SIM_PS_RPLidarA2.cpp
index 47c4248582..1da08f4262 100644
--- a/libraries/SITL/SIM_PS_RPLidarA2.cpp
+++ b/libraries/SITL/SIM_PS_RPLidarA2.cpp
@@ -105,6 +105,30 @@ void PS_RPLidarA2::update_input()
             set_inputstate(InputState::WAITING_FOR_PREAMBLE);
             return;
         }
+        case Command::GET_DEVICE_INFO: {
+            // consume the command:
+            memmove(_buffer, &_buffer[1], _buflen-1);
+            _buflen--;
+            send_response_descriptor(0x14, SendMode::SRSR, DataType::Unknown04);
+            // now send the device info:
+            struct PACKED _device_info {
+                uint8_t model;
+                uint8_t firmware_minor;
+                uint8_t firmware_major;
+                uint8_t hardware;
+                uint8_t serial[16];
+            } device_info;
+            device_info.model = device_info_model();
+            device_info.firmware_minor = 17;
+            device_info.firmware_major = 42;
+            device_info.hardware = 6;
+            const ssize_t ret = write_to_autopilot((const char*)&device_info, sizeof(device_info));
+            if (ret != sizeof(device_info)) {
+                abort();
+            }
+            set_inputstate(InputState::WAITING_FOR_PREAMBLE);
+            return;
+        }
         case Command::FORCE_SCAN:
             abort();
         case Command::RESET:
diff --git a/libraries/SITL/SIM_PS_RPLidarA2.h b/libraries/SITL/SIM_PS_RPLidarA2.h
index 677ca4ab69..cb8a4a4233 100644
--- a/libraries/SITL/SIM_PS_RPLidarA2.h
+++ b/libraries/SITL/SIM_PS_RPLidarA2.h
@@ -109,12 +109,14 @@ private:
         SCAN = 0x20,
         FORCE_SCAN = 0x21,
         RESET = 0x40,
+        GET_DEVICE_INFO = 0x50,
         GET_HEALTH = 0x52,
     };
 
     void move_preamble_in_buffer();
 
     enum class DataType {
+        Unknown04 = 0x04, // uint8_t ?!
         Unknown06 = 0x06, // uint8_t ?!
         Unknown81 = 0x81, // uint8_t ?!
     };
@@ -132,6 +134,9 @@ private:
     // the driver expects to see an "R" followed by 62 bytes more crap.
     static const constexpr char *FIRMWARE_INFO = "R12345678901234567890123456789012345678901234567890123456789012";
     uint8_t _firmware_info_offset;
+
+    // this will be pure-virtual in a notional RPLidar base class:
+    uint8_t device_info_model() const { return 0x28; }
 };
 
 };