diff --git a/libraries/AP_HAL_SITL/SITL_State_common.cpp b/libraries/AP_HAL_SITL/SITL_State_common.cpp
index de94ee6590..e2927a4215 100644
--- a/libraries/AP_HAL_SITL/SITL_State_common.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State_common.cpp
@@ -25,7 +25,7 @@ extern const AP_HAL::HAL& hal;
 using namespace HALSITL;
 
 #define streq(a, b) (!strcmp(a, b))
-SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const char *arg)
+SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const char *arg, const uint8_t portNumber)
 {
     if (streq(name, "benewake_tf02")) {
         if (benewake_tf02 != nullptr) {
@@ -314,6 +314,13 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const
         }
         gps[x-1] = new SITL::GPS(x-1);
         return gps[x-1];
+    } else if (streq(name, "ELRS")) {
+        // Only allocate if not done already
+        // MAVLink serial ports have begin called several times
+        if (elrs == nullptr) {
+            elrs = new SITL::ELRS(portNumber, this);
+        }
+        return elrs;
     }
 
     AP_HAL::panic("unknown simulated device: %s", name);
@@ -481,6 +488,10 @@ void SITL_State_Common::sim_update(void)
             gps[i]->update();
         }
     }
+
+    if (elrs != nullptr) {
+        elrs->update();
+    }
 }
 
 /*
diff --git a/libraries/AP_HAL_SITL/SITL_State_common.h b/libraries/AP_HAL_SITL/SITL_State_common.h
index 19e7356c3b..de3d75d657 100644
--- a/libraries/AP_HAL_SITL/SITL_State_common.h
+++ b/libraries/AP_HAL_SITL/SITL_State_common.h
@@ -53,6 +53,8 @@
 #include <SITL/SIM_Loweheiser.h>
 #include <SITL/SIM_FETtecOneWireESC.h>
 
+#include <SITL/SIM_ELRS.h>
+
 #include "AP_HAL_SITL.h"
 #include "AP_HAL_SITL_Namespace.h"
 #include "HAL_SITL_Class.h"
@@ -88,7 +90,7 @@ public:
 
     // create a simulated serial device; type of device is given by
     // name parameter
-    SITL::SerialDevice *create_serial_sim(const char *name, const char *arg);
+    SITL::SerialDevice *create_serial_sim(const char *name, const char *arg, const uint8_t portNumber);
 
     // simulated airspeed, sonar and battery monitor
     float sonar_pin_voltage;    // pin 0
@@ -231,6 +233,9 @@ public:
     // simulated GPS devices
     SITL::GPS *gps[2];  // constrained by # of parameter sets
 
+    // Simulated ELRS radio
+    SITL::ELRS *elrs;
+
     // returns a voltage between 0V to 5V which should appear as the
     // voltage from the sensor
     float _sonar_pin_voltage() const;
diff --git a/libraries/AP_HAL_SITL/UARTDriver.cpp b/libraries/AP_HAL_SITL/UARTDriver.cpp
index e458f73aab..8a9600ca4d 100644
--- a/libraries/AP_HAL_SITL/UARTDriver.cpp
+++ b/libraries/AP_HAL_SITL/UARTDriver.cpp
@@ -77,11 +77,11 @@ void UARTDriver::_begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace)
     if (strcmp(path, "GPS1") == 0) {
         /* gps */
         _connected = true;
-        _sim_serial_device = _sitlState->create_serial_sim("gps:1", "");
+        _sim_serial_device = _sitlState->create_serial_sim("gps:1", "", _portNumber);
     } else if (strcmp(path, "GPS2") == 0) {
         /* 2nd gps */
         _connected = true;
-        _sim_serial_device = _sitlState->create_serial_sim("gps:2", "");
+        _sim_serial_device = _sitlState->create_serial_sim("gps:2", "", _portNumber);
     } else {
         /* parse type:args:flags string for path. 
            For example:
@@ -109,7 +109,7 @@ void UARTDriver::_begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace)
             // add sanity check here that we're doing mavlink on this port?
             ::printf("SIM-ADSB connection on SERIAL%u\n", _portNumber);
             _connected = true;
-            _sim_serial_device = _sitlState->create_serial_sim("adsb", nullptr);
+            _sim_serial_device = _sitlState->create_serial_sim("adsb", nullptr, _portNumber);
         } else
 #endif
         if (strcmp(devtype, "tcp") == 0) {
@@ -132,7 +132,7 @@ void UARTDriver::_begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace)
             if (!_connected) {
                 ::printf("SIM connection %s:%s on SERIAL%u\n", args1, args2, _portNumber);
                 _connected = true;
-                _sim_serial_device = _sitlState->create_serial_sim(args1, args2);
+                _sim_serial_device = _sitlState->create_serial_sim(args1, args2, _portNumber);
             }
         } else if (strcmp(devtype, "udpclient") == 0) {
             // udp client connection