diff --git a/libraries/SITL/SIM_RF_Ainstein_LR_D1.cpp b/libraries/SITL/SIM_RF_Ainstein_LR_D1.cpp
new file mode 100644
index 0000000000..21cf19819e
--- /dev/null
+++ b/libraries/SITL/SIM_RF_Ainstein_LR_D1.cpp
@@ -0,0 +1,50 @@
+/*
+   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 Ainstein LR-D1 Serial rangefinder
+*/
+
+#include "SIM_RF_Ainstein_LR_D1.h"
+
+using namespace SITL;
+
+uint32_t RF_Ainstein_LR_D1::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen)
+{
+    const uint8_t PACKET_LEN = 32;
+
+    if (buflen < PACKET_LEN) {
+        return 0;
+    }
+
+    uint8_t malfunction_alert = 0;
+
+    const uint8_t snr = (alt_cm == 0xFFFF) ? 0 : 100;
+
+    buffer[0] = 0xEB;  // packet header msb
+    buffer[1] = 0x90;  // packet header lsb
+    buffer[2] = 0;  // device_id
+    buffer[3] = 28;  // length
+    buffer[4] = malfunction_alert;
+    buffer[5] = 1;  // object count
+    buffer[6] = HIGHBYTE(alt_cm);
+    buffer[7] = LOWBYTE(alt_cm);
+    buffer[8] = snr;
+    buffer[9] = 0;  // speed high
+    buffer[10] = 0;  // speed low
+    memset(&buffer[11], 0xff, 20); // unused
+    buffer[31] = crc_sum_of_bytes(&buffer[3], PACKET_LEN-4); // minus headerMSB, headerLSB, device_id and checksum
+
+    return PACKET_LEN;
+}
diff --git a/libraries/SITL/SIM_RF_Ainstein_LR_D1.h b/libraries/SITL/SIM_RF_Ainstein_LR_D1.h
new file mode 100644
index 0000000000..849979f3dc
--- /dev/null
+++ b/libraries/SITL/SIM_RF_Ainstein_LR_D1.h
@@ -0,0 +1,55 @@
+/*
+   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 Ainstein LR-D1 serial rangefinder
+
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:ainsteinlrd1 --speedup=1
+
+param set SERIAL5_PROTOCOL 9
+param set RNGFND1_TYPE 42
+graph RANGEFINDER.distance
+graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
+reboot
+
+arm throttle
+rc 3 1600
+
+# to pass canned data through the simulator:
+/Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=file:libraries/AP_RangeFinder/examples/captures/ainstein_lr-d1.bin --speedup=1
+
+param set SERIAL5_PROTOCOL 9
+param set RNGFND1_TYPE 42
+reboot
+
+*/
+
+#pragma once
+
+#include "SIM_SerialRangeFinder.h"
+
+namespace SITL {
+
+class RF_Ainstein_LR_D1 : public SerialRangeFinder {
+public:
+
+    uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
+
+    uint16_t reading_interval_ms() const override { return 100; }
+
+private:
+
+};
+
+}