diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp
index d5e0fb9c7f..eb3f2156b7 100644
--- a/libraries/SITL/SITL.cpp
+++ b/libraries/SITL/SITL.cpp
@@ -27,6 +27,14 @@
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include <AP_Logger/AP_Logger.h>
 
+#ifdef SFML_JOYSTICK
+  #ifdef HAVE_SFML_GRAPHICS_HPP
+    #include <SFML/Window/Joystick.hpp>
+  #elif HAVE_SFML_GRAPHIC_H
+    #include <SFML/Window/Joystick.h>
+  #endif
+#endif // SFML_JOYSTICK
+
 extern const AP_HAL::HAL& hal;
 
 namespace SITL {
@@ -253,6 +261,10 @@ const AP_Param::GroupInfo SITL::var_info3[] = {
     // user settable common airspeed parameters
     AP_GROUPINFO("ARSPD_SIGN",    62, SITL,  arspd_signflip, 0),
 
+#ifdef SFML_JOYSTICK
+    AP_SUBGROUPEXTENSION("",      63, SITL,  var_sfml_joystick),
+#endif // SFML_JOYSTICK
+
     AP_GROUPEND
 };
 
@@ -332,6 +344,22 @@ const AP_Param::GroupInfo SITL::var_mag[] = {
 #endif
     AP_GROUPEND
 };
+
+#ifdef SFML_JOYSTICK
+const AP_Param::GroupInfo SITL::var_sfml_joystick[] = {
+    AP_GROUPINFO("SF_JS_STICK",    1, SITL,  sfml_joystick_id,   0),
+    AP_GROUPINFO("SF_JS_AXIS1",    2, SITL,  sfml_joystick_axis[0], sf::Joystick::Axis::X),
+    AP_GROUPINFO("SF_JS_AXIS2",    3, SITL,  sfml_joystick_axis[1], sf::Joystick::Axis::Y),
+    AP_GROUPINFO("SF_JS_AXIS3",    4, SITL,  sfml_joystick_axis[2], sf::Joystick::Axis::Z),
+    AP_GROUPINFO("SF_JS_AXIS4",    5, SITL,  sfml_joystick_axis[3], sf::Joystick::Axis::U),
+    AP_GROUPINFO("SF_JS_AXIS5",    6, SITL,  sfml_joystick_axis[4], sf::Joystick::Axis::V),
+    AP_GROUPINFO("SF_JS_AXIS6",    7, SITL,  sfml_joystick_axis[5], sf::Joystick::Axis::R),
+    AP_GROUPINFO("SF_JS_AXIS7",    8, SITL,  sfml_joystick_axis[6], sf::Joystick::Axis::PovX),
+    AP_GROUPINFO("SF_JS_AXIS8",    9, SITL,  sfml_joystick_axis[7], sf::Joystick::Axis::PovY),
+    AP_GROUPEND
+};
+
+#endif //SFML_JOYSTICK
     
 /* report SITL state via MAVLink */
 void SITL::simstate_send(mavlink_channel_t chan)
diff --git a/libraries/SITL/SITL.h b/libraries/SITL/SITL.h
index 3992bad51d..21467537c6 100644
--- a/libraries/SITL/SITL.h
+++ b/libraries/SITL/SITL.h
@@ -95,6 +95,9 @@ public:
         AP_Param::setup_object_defaults(this, var_info3);
         AP_Param::setup_object_defaults(this, var_gps);
         AP_Param::setup_object_defaults(this, var_mag);
+#ifdef SFML_JOYSTICK
+        AP_Param::setup_object_defaults(this, var_sfml_joystick);
+#endif // SFML_JOYSTICK
         if (_singleton != nullptr) {
             AP_HAL::panic("Too many SITL instances");
         }
@@ -143,6 +146,9 @@ public:
     static const struct AP_Param::GroupInfo var_info3[];
     static const struct AP_Param::GroupInfo var_gps[];
     static const struct AP_Param::GroupInfo var_mag[];
+#ifdef SFML_JOYSTICK
+    static const struct AP_Param::GroupInfo var_sfml_joystick[];
+#endif //SFML_JOYSTICK
 
     // Board Orientation (and inverse)
     Matrix3f ahrs_rotation;
@@ -224,6 +230,11 @@ public:
     AP_Float buoyancy; // submarine buoyancy in Newtons
     AP_Int16 loop_rate_hz;
 
+#ifdef SFML_JOYSTICK
+    AP_Int8 sfml_joystick_id;
+    AP_Int8 sfml_joystick_axis[8];
+#endif
+
     // EFI type
     enum EFIType {
         EFI_TYPE_NONE = 0,