diff --git a/libraries/SITL/SIM_RF_NoopLoop.cpp b/libraries/SITL/SIM_RF_NoopLoop.cpp
new file mode 100644
index 0000000000..445b5862a2
--- /dev/null
+++ b/libraries/SITL/SIM_RF_NoopLoop.cpp
@@ -0,0 +1,49 @@
+/*
+   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/>.
+ */
+/*
+  Base class for simulator for the NoopLoop TOFSense-F/P Serial RangeFinders
+*/
+
+#include "SIM_RF_NoopLoop.h"
+
+using namespace SITL;
+
+uint32_t RF_Nooploop::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen)
+{
+
+    int32_t alt_scaled = 2560*alt_cm;
+    buffer[0] = 0x57;
+    buffer[1] = 0x00;
+    buffer[2] = 0xff;
+    buffer[3] = 0x00;
+    buffer[4] = 0x9e;
+    buffer[5] = 0x8f;
+    buffer[6] = 0x00;
+    buffer[7] = 0x00;
+    buffer[8] = alt_scaled >> 8 & 0xff;
+    buffer[9] = alt_scaled >> 16 & 0xff;
+    buffer[10] = alt_scaled >> 24 & 0xff;
+    buffer[11] = 0x00;
+    buffer[12] = 0x03;
+    buffer[13] = 0x00;
+    buffer[14] = 0x06;
+
+    // calculate checksum:
+    buffer[15] = 0;
+    for (uint8_t i=0; i<15; i++) {
+        buffer[15] += buffer[i];
+    }
+    return 16;
+}
diff --git a/libraries/SITL/SIM_RF_NoopLoop.h b/libraries/SITL/SIM_RF_NoopLoop.h
new file mode 100644
index 0000000000..1ee56d1528
--- /dev/null
+++ b/libraries/SITL/SIM_RF_NoopLoop.h
@@ -0,0 +1,32 @@
+/*
+   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/>.
+ */
+/*
+  Base class for simulator for the NoopLoop TOFSense-F/P Serial RangeFinders
+*/
+
+#pragma once
+
+#include "SIM_SerialRangeFinder.h"
+
+namespace SITL {
+
+class RF_Nooploop : public SerialRangeFinder {
+public:
+
+    uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
+
+};
+
+}