diff --git a/libraries/SITL/SIM_RF_BLping.h b/libraries/SITL/SIM_RF_BLping.h
index e108862c94..7c76b31d1f 100644
--- a/libraries/SITL/SIM_RF_BLping.h
+++ b/libraries/SITL/SIM_RF_BLping.h
@@ -19,7 +19,12 @@
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 23
+graph RANGEFINDER.distance
+graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
 reboot
+
+arm throttle
+rc 3 1600
 */
 
 #pragma once
diff --git a/libraries/SITL/SIM_RF_Benewake_TF02.h b/libraries/SITL/SIM_RF_Benewake_TF02.h
index 7c6b271d64..fac8443f6b 100644
--- a/libraries/SITL/SIM_RF_Benewake_TF02.h
+++ b/libraries/SITL/SIM_RF_Benewake_TF02.h
@@ -19,8 +19,13 @@
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 19
+graph RANGEFINDER.distance
+graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
 reboot
 
+arm throttle
+rc 3 1600
+
 */
 
 #pragma once
diff --git a/libraries/SITL/SIM_RF_Benewake_TF03.h b/libraries/SITL/SIM_RF_Benewake_TF03.h
index f4c2bc9051..f8d86fdbd5 100644
--- a/libraries/SITL/SIM_RF_Benewake_TF03.h
+++ b/libraries/SITL/SIM_RF_Benewake_TF03.h
@@ -19,8 +19,12 @@
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 27
+graph RANGEFINDER.distance
+graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
 reboot
 
+arm throttle
+rc 3 1600
 */
 
 #pragma once
diff --git a/libraries/SITL/SIM_RF_Benewake_TFmini.h b/libraries/SITL/SIM_RF_Benewake_TFmini.h
index f69f3ffd13..b204fb6bf0 100644
--- a/libraries/SITL/SIM_RF_Benewake_TFmini.h
+++ b/libraries/SITL/SIM_RF_Benewake_TFmini.h
@@ -19,8 +19,12 @@
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 20
+graph RANGEFINDER.distance
+graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
 reboot
 
+arm throttle
+rc 3 1600
 */
 
 #pragma once
diff --git a/libraries/SITL/SIM_RF_Lanbao.h b/libraries/SITL/SIM_RF_Lanbao.h
index e5fb704004..a3bc74e87e 100644
--- a/libraries/SITL/SIM_RF_Lanbao.h
+++ b/libraries/SITL/SIM_RF_Lanbao.h
@@ -13,13 +13,18 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 /*
-  Simulator for the Lanbao rangefinder 
+  Simulator for the Lanbao rangefinder
 
 ./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:lanbao --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 26
+graph RANGEFINDER.distance
+graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
 reboot
+
+arm throttle
+rc 3 1600
 */
 
 #pragma once
diff --git a/libraries/SITL/SIM_RF_LeddarOne.h b/libraries/SITL/SIM_RF_LeddarOne.h
index 6ba01c5506..ad54ce3899 100644
--- a/libraries/SITL/SIM_RF_LeddarOne.h
+++ b/libraries/SITL/SIM_RF_LeddarOne.h
@@ -15,11 +15,16 @@
 /*
   Simulator for the LeddarOne rangefinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduPlane -A --uartF=sim:leddarone --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:leddarone --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 12
+graph RANGEFINDER.distance
+graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
 reboot
+
+arm throttle
+rc 3 1600
 */
 
 #pragma once
diff --git a/libraries/SITL/SIM_RF_LightWareSerial.h b/libraries/SITL/SIM_RF_LightWareSerial.h
index e0d7c44b8e..4591fa4a5c 100644
--- a/libraries/SITL/SIM_RF_LightWareSerial.h
+++ b/libraries/SITL/SIM_RF_LightWareSerial.h
@@ -13,13 +13,18 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 /*
-  Simulator for the serial LightWare rangefinder 
+  Simulator for the serial LightWare rangefinder
 
 ./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:lightwareserial --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 8
+graph RANGEFINDER.distance
+graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
 reboot
+
+arm throttle
+rc 3 1600
 */
 
 #pragma once
diff --git a/libraries/SITL/SIM_RF_MaxsonarSerialLV.h b/libraries/SITL/SIM_RF_MaxsonarSerialLV.h
index 54d739d709..6397637f33 100644
--- a/libraries/SITL/SIM_RF_MaxsonarSerialLV.h
+++ b/libraries/SITL/SIM_RF_MaxsonarSerialLV.h
@@ -19,7 +19,12 @@
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 13
+graph RANGEFINDER.distance
+graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
 reboot
+
+arm throttle
+rc 3 1600
 */
 
 #pragma once
diff --git a/libraries/SITL/SIM_RF_NMEA.h b/libraries/SITL/SIM_RF_NMEA.h
index 9534debf33..b9967f8d9f 100644
--- a/libraries/SITL/SIM_RF_NMEA.h
+++ b/libraries/SITL/SIM_RF_NMEA.h
@@ -19,7 +19,12 @@
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 17
+graph RANGEFINDER.distance
+graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
 reboot
+
+arm throttle
+rc 3 1600
 */
 
 #pragma once
diff --git a/libraries/SITL/SIM_RF_Wasp.h b/libraries/SITL/SIM_RF_Wasp.h
index 01a9cb8f4a..797706d6be 100644
--- a/libraries/SITL/SIM_RF_Wasp.h
+++ b/libraries/SITL/SIM_RF_Wasp.h
@@ -19,7 +19,12 @@
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 18
+graph RANGEFINDER.distance
+graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
 reboot
+
+arm throttle
+rc 3 1600
 */
 
 #pragma once
diff --git a/libraries/SITL/SIM_RF_uLanding_v0.h b/libraries/SITL/SIM_RF_uLanding_v0.h
index 0c88e73560..93327af050 100644
--- a/libraries/SITL/SIM_RF_uLanding_v0.h
+++ b/libraries/SITL/SIM_RF_uLanding_v0.h
@@ -19,7 +19,12 @@
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 11
+graph RANGEFINDER.distance
+graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
 reboot
+
+arm throttle
+rc 3 1600
 */
 
 #pragma once
diff --git a/libraries/SITL/SIM_RF_uLanding_v1.h b/libraries/SITL/SIM_RF_uLanding_v1.h
index 9b810a012c..918450eb8d 100644
--- a/libraries/SITL/SIM_RF_uLanding_v1.h
+++ b/libraries/SITL/SIM_RF_uLanding_v1.h
@@ -19,7 +19,12 @@
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 11
+graph RANGEFINDER.distance
+graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
 reboot
+
+arm throttle
+rc 3 1600
 */
 
 #pragma once