diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..dfa1abd
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "PX4-Autopilot"]
+	path = PX4-Autopilot
+	url = https://git.spirirobotics.com/Spiri/PX4-Autopilot.git
diff --git a/Dockerfile b/Dockerfile
index af761fa..ded1564 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,6 +1,6 @@
 FROM px4io/px4-dev-simulation-focal
 
-COPY --link --from=git.spirirobotics.com/spiri/gazebo-resources:latest /models /usr/share/gazebo-11/models/
+COPY --link --from=git.spirirobotics.com/spiri/gazebo-resources:latest /models /opt/spiri-sdk/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/
 COPY --link --from=git.spirirobotics.com/spiri/gazebo-resources:latest /worlds /usr/share/gazebo-11/worlds/
 COPY --link --from=git.spirirobotics.com/spiri/gazebo-resources:latest /plugins /usr/lib/x86_64-linux-gnu/gazebo-11/plugins
 
@@ -21,11 +21,11 @@ RUN apt-get install --yes ros-noetic-desktop gazebo11 libgazebo11 libgazebo11-de
 
 WORKDIR /opt/spiri-sdk
 
-RUN git clone --depth 1 -b v1.15.0-beta1 https://github.com/PX4/PX4-Autopilot.git --recursive
+COPY ./ /opt/spiri-sdk/
 WORKDIR /opt/spiri-sdk/PX4-Autopilot/
 #Precompile px4
 #RUN make px4_sitl_default
-RUN DONT_RUN=1 make px4_sitl gazebo-classic
+RUN DONT_RUN=1 make px4_sitl gazebo-classic_mu
 
 RUN pip3 install typer-slim loguru sh
 
diff --git a/PX4-Autopilot b/PX4-Autopilot
new file mode 160000
index 0000000..dd0fb2e
--- /dev/null
+++ b/PX4-Autopilot
@@ -0,0 +1 @@
+Subproject commit dd0fb2ef11fc6882c005b16801b1ef47b5d8683b
diff --git a/skel/Desktop/simulated-drone/sim_drone.py b/skel/Desktop/simulated-drone/sim_drone.py
index 61c7ec9..1968f72 100755
--- a/skel/Desktop/simulated-drone/sim_drone.py
+++ b/skel/Desktop/simulated-drone/sim_drone.py
@@ -114,7 +114,7 @@ def start(sys_id: int = 1, extra_apps: List[pathlib.Path] = []):
     """
     with logger.contextualize(syd_id=sys_id):
         with modified_environ(
-            PX4_SIM_MODEL=os.environ.get("PX4_SIM_MODEL") or "gz_x500",
+            # PX4_SIM_MODEL=os.environ.get("PX4_SIM_MODEL") or "gz_x500",
             # ToDo: pose is not passed to gazebo classic
             PX4_GZ_MODEL_POSE=os.environ.get("PX4_GZ_MODEL_POSE") or f"0,{(sys_id-1)}",
             PX4_INSTANCE="intance_id",
@@ -126,7 +126,7 @@ def start(sys_id: int = 1, extra_apps: List[pathlib.Path] = []):
             # Run the make px4_sitl gazebo-classic command
             px4_command = sh.make(
                 "px4_sitl",
-                "gazebo-classic",
+                "gazebo-classic_mu",
                 _bg=True,
                 _out=outputLogger("px4", sys_id),
                 _cwd=px4Path,