diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10016_gazebo-classic_iris b/ROMFS/px4fmu_common/init.d-posix/airframes/10015_gazebo-classic_iris
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/10016_gazebo-classic_iris
rename to ROMFS/px4fmu_common/init.d-posix/airframes/10015_gazebo-classic_iris
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10016_none_iris b/ROMFS/px4fmu_common/init.d-posix/airframes/10016_none_iris
new file mode 100644
index 0000000000..506572e916
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10016_none_iris
@@ -0,0 +1,30 @@
+#!/bin/sh
+#
+# @name Generic Iris Quadrotor SITL
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
index ae80ed2057..8e1c82b42f 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -79,7 +79,8 @@ px4_add_romfs_files(
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
 
-	10016_gazebo-classic_iris
+	10015_gazebo-classic_iris
+	10016_none_iris
 	10017_jmavsim_iris
 	10018_gazebo-classic_iris_foggy_lidar
 	10019_gazebo-classic_omnicopter
diff --git a/src/modules/simulation/simulator_mavlink/CMakeLists.txt b/src/modules/simulation/simulator_mavlink/CMakeLists.txt
index fecb207042..fc4fa94aa4 100644
--- a/src/modules/simulation/simulator_mavlink/CMakeLists.txt
+++ b/src/modules/simulation/simulator_mavlink/CMakeLists.txt
@@ -59,3 +59,15 @@ include(sitl_targets_flightgear.cmake)
 include(sitl_targets_gazebo-classic.cmake)
 include(sitl_targets_jmavsim.cmake)
 include(sitl_targets_jsbsim.cmake)
+
+
+# none_iris (legacy compatibility launch helper)
+add_custom_target(none_iris
+	COMMAND ${CMAKE_COMMAND} -E env PX4_SYS_AUTOSTART=10016 $<TARGET_FILE:px4>
+	WORKING_DIRECTORY ${SITL_WORKING_DIR}
+	USES_TERMINAL
+	DEPENDS
+		px4
+		${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/10016_none_iris
+	COMMENT "launching px4 none_iris (SYS_AUTOSTART=10016)"
+)