diff --git a/Makefile b/Makefile
index 2a0e843f94..5e68ee3c42 100644
--- a/Makefile
+++ b/Makefile
@@ -161,7 +161,8 @@ clean:
 
 # targets handled by cmake
 cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
-	run_sitl config
+	run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim \
+	jmavsim_gdb jmavsim_lldb
 $(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
 
 .PHONY: clean
diff --git a/src/firmware/posix/CMakeLists.txt b/src/firmware/posix/CMakeLists.txt
index 88028d176e..59398c2668 100644
--- a/src/firmware/posix/CMakeLists.txt
+++ b/src/firmware/posix/CMakeLists.txt
@@ -24,12 +24,32 @@ else()
 		)
 endif()
 
-add_custom_target(run_sitl
+add_custom_target(run_config
 	COMMAND Tools/sitl_run.sh "${config_sitl_rcS}" "${config_sitl_debugger}"
 	"${config_sitl_viewer}" "${CMAKE_BINARY_DIR}"
 	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 	USES_TERMINAL
 	)
-add_dependencies(run_sitl mainapp)
+add_dependencies(run_config mainapp)
+
+foreach(viewer jmavsim gazebo)
+	foreach(debugger none gdb lldb)
+		message(STATUS "viewer: ${viewer}")
+		message(STATUS "debugger: ${debugger}")
+		if (debugger STREQUAL "none")
+			set(_targ_name "${viewer}")
+		else()
+			set(_targ_name "${viewer}_${debugger}")
+		endif()
+		add_custom_target(${_targ_name}
+			COMMAND Tools/sitl_run.sh "${config_sitl_rcS}"
+			"${debugger}"
+			"${viewer}" "${CMAKE_BINARY_DIR}"
+			WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+			USES_TERMINAL
+			)
+		add_dependencies(${_targ_name} mainapp)
+	endforeach()
+endforeach()
 
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :