diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp
index e485047e43..70d148b8a7 100644
--- a/libraries/AP_HAL_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State.cpp
@@ -336,6 +336,12 @@ int SITL_State::sim_fd(const char *name, const char *arg)
     //     }
     //     frsky_sport = new SITL::Frsky_SPortPassthrough();
     //     return frsky_sportpassthrough->fd();
+    } else if (streq(name, "rplidara2")) {
+        if (rplidara2 != nullptr) {
+            AP_HAL::panic("Only one rplidara2 at a time");
+        }
+        rplidara2 = new SITL::PS_RPLidarA2();
+        return rplidara2->fd();
     }
 
     AP_HAL::panic("unknown simulated device: %s", name);
@@ -417,6 +423,11 @@ int SITL_State::sim_fd_write(const char *name)
             AP_HAL::panic("No frsky-d created");
         }
         return frsky_d->write_fd();
+    } else if (streq(name, "rplidara2")) {
+        if (rplidara2 == nullptr) {
+            AP_HAL::panic("No rplidara2 created");
+        }
+        return rplidara2->write_fd();
     }
     AP_HAL::panic("unknown simulated device: %s", name);
 }
@@ -603,6 +614,9 @@ void SITL_State::_fdm_input_local(void)
     // if (frsky_sportpassthrough != nullptr) {
     //     frsky_sportpassthrough->update();
     // }
+    if (rplidara2 != nullptr) {
+        rplidara2->update(sitl_model->get_location());
+    }
 
     if (_sitl) {
         _sitl->efi_ms.update();
diff --git a/libraries/AP_HAL_SITL/SITL_State.h b/libraries/AP_HAL_SITL/SITL_State.h
index bccae174f1..3ef33b2861 100644
--- a/libraries/AP_HAL_SITL/SITL_State.h
+++ b/libraries/AP_HAL_SITL/SITL_State.h
@@ -41,6 +41,7 @@
 #include <SITL/SIM_Frsky_D.h>
 // #include <SITL/SIM_Frsky_SPort.h>
 // #include <SITL/SIM_Frsky_SPortPassthrough.h>
+#include <SITL/SIM_PS_RPLidarA2.h>
 
 #include <AP_HAL/utility/Socket.h>
 
@@ -273,6 +274,8 @@ private:
     SITL::Frsky_D *frsky_d;
     // SITL::Frsky_SPort *frsky_sport;
     // SITL::Frsky_SPortPassthrough *frsky_sportpassthrough;
+    // simulated NMEA rangefinder:
+    SITL::PS_RPLidarA2 *rplidara2;
 
     // output socket for flightgear viewing
     SocketAPM fg_socket{true};