diff --git a/.github/workflows/sitl_tests.yml b/.github/workflows/sitl_tests.yml
index b9ac0bee12..9ba892d2cc 100644
--- a/.github/workflows/sitl_tests.yml
+++ b/.github/workflows/sitl_tests.yml
@@ -81,7 +81,7 @@ jobs:
       env:
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
         DONT_RUN: 1
-      run: make px4_sitl_default gazebo mavsdk_tests
+      run: make px4_sitl_default sitl_gazebo mavsdk_tests
     - name: ccache post-run mavsdk_tests
       run: ccache -s
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index bd9f84f2b7..5888641c0c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -282,7 +282,10 @@ if(${PX4_PLATFORM} STREQUAL "posix")
 	set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 	set(CMAKE_ENABLE_EXPORTS ON)
 
-	include(coverage)
+	if(CMAKE_BUILD_TYPE MATCHES "Coverage")
+		include(coverage)
+	endif()
+
 	include(sanitizers)
 
 	# Define GNU standard installation directories
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris b/ROMFS/px4fmu_common/init.d-posix/airframes/10016_gazebo_iris
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris
rename to ROMFS/px4fmu_common/init.d-posix/airframes/10016_gazebo_iris
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10018_gazebo_iris_foggy_lidar b/ROMFS/px4fmu_common/init.d-posix/airframes/10018_gazebo_iris_foggy_lidar
new file mode 100644
index 0000000000..161a324920
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10018_gazebo_iris_foggy_lidar
@@ -0,0 +1,33 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (foggy_lidar)
+#
+# @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
+
+param set-default EKF2_RNG_A_HMAX 10
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar b/ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar
deleted file mode 100644
index 935b1be4cb..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar
+++ /dev/null
@@ -1,11 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (foggy_lidar)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-param set-default EKF2_RNG_A_HMAX 10
-
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10019_omnicopter b/ROMFS/px4fmu_common/init.d-posix/airframes/10019_gazebo_omnicopter
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/10019_omnicopter
rename to ROMFS/px4fmu_common/init.d-posix/airframes/10019_gazebo_omnicopter
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10030_px4vision b/ROMFS/px4fmu_common/init.d-posix/airframes/10030_gazebo_px4vision
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/10030_px4vision
rename to ROMFS/px4fmu_common/init.d-posix/airframes/10030_gazebo_px4vision
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo_iris_opt_flow b/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo_iris_opt_flow
new file mode 100644
index 0000000000..ea35646fbe
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo_iris_opt_flow
@@ -0,0 +1,47 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Optical Flow)
+#
+# @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
+
+# EKF2
+param set-default EKF2_AID_MASK 2
+param set-default EKF2_GPS_CTRL 0
+param set-default EKF2_EVP_NOISE 0.05
+param set-default EKF2_EVA_NOISE 0.05
+
+# LPE: Flow-only mode
+param set-default LPE_FUSION 242
+param set-default LPE_FAKE_ORIGIN 1
+
+param set-default MPC_ALT_MODE 2
+
+param set-default SENS_FLOW_ROT 6
+param set-default SENS_FLOW_MINHGT 0.7
+param set-default SENS_FLOW_MAXHGT 3.0
+param set-default SENS_FLOW_MAXR 2.5
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow.post b/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo_iris_opt_flow.post
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow.post
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo_iris_opt_flow.post
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow b/ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow
deleted file mode 100644
index 9368c82a4c..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow
+++ /dev/null
@@ -1,25 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Optical Flow)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-# EKF2
-param set-default EKF2_AID_MASK 2
-param set-default EKF2_GPS_CTRL 0
-param set-default EKF2_EVP_NOISE 0.05
-param set-default EKF2_EVA_NOISE 0.05
-
-# LPE: Flow-only mode
-param set-default LPE_FUSION 242
-param set-default LPE_FAKE_ORIGIN 1
-
-param set-default MPC_ALT_MODE 2
-
-param set-default SENS_FLOW_ROT 6
-param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 3.0
-param set-default SENS_FLOW_MAXR 2.5
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1011_gazebo_iris_irlock b/ROMFS/px4fmu_common/init.d-posix/airframes/1011_gazebo_iris_irlock
new file mode 100644
index 0000000000..2f064e2c5f
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1011_gazebo_iris_irlock
@@ -0,0 +1,38 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (irlock)
+#
+# @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
+
+# enable fusion of landing target velocity
+param set-default LTEST_MODE 1
+param set-default PLD_HACC_RAD 0.1
+param set-default RTL_PLD_MD 2
+
+# Start up Landing Target Estimator module
+landing_target_estimator start
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock b/ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock
deleted file mode 100644
index 7850d8b158..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (irlock)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-# enable fusion of landing target velocity
-param set-default LTEST_MODE 1
-param set-default PLD_HACC_RAD 0.1
-param set-default RTL_PLD_MD 2
-
-# Start up Landing Target Estimator module
-landing_target_estimator start
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1012_gazebo_iris_rplidar b/ROMFS/px4fmu_common/init.d-posix/airframes/1012_gazebo_iris_rplidar
new file mode 100644
index 0000000000..3fd2ef636f
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1012_gazebo_iris_rplidar
@@ -0,0 +1,33 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (rplidar)
+#
+# @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
+
+param set-default LPE_FUSION 242
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1012_iris_rplidar b/ROMFS/px4fmu_common/init.d-posix/airframes/1012_iris_rplidar
deleted file mode 100644
index 4a67b4c123..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1012_iris_rplidar
+++ /dev/null
@@ -1,11 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (rplidar)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-param set-default LPE_FUSION 242
-
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision b/ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo_iris_vision
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo_iris_vision
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision.post b/ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo_iris_vision.post
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision.post
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo_iris_vision.post
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo_iris_obs_avoid b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo_iris_obs_avoid
new file mode 100644
index 0000000000..398e87b602
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo_iris_obs_avoid
@@ -0,0 +1,34 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
+#
+# @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
+
+param set-default COM_OBS_AVOID 1
+param set-default MPC_XY_CRUISE 5.0
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid.post b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo_iris_obs_avoid.post
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid.post
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo_iris_obs_avoid.post
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid
deleted file mode 100644
index 62b16e50c8..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-param set-default COM_OBS_AVOID 1
-param set-default MPC_XY_CRUISE 5.0
-
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1017_gazebo_iris_opt_flow_mockup b/ROMFS/px4fmu_common/init.d-posix/airframes/1017_gazebo_iris_opt_flow_mockup
new file mode 100644
index 0000000000..4b2ea16e89
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1017_gazebo_iris_opt_flow_mockup
@@ -0,0 +1,40 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Optical Flow)
+#
+# @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
+
+# EKF2
+param set-default EKF2_AID_MASK 2
+param set-default EKF2_GPS_CTRL 0
+
+# LPE: Flow-only mode
+param set-default LPE_FUSION 242
+param set-default LPE_FAKE_ORIGIN 1
+
+param set-default MPC_ALT_MODE 2
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup b/ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup
deleted file mode 100644
index 65d2e7eeef..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup
+++ /dev/null
@@ -1,18 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Optical Flow)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-# EKF2
-param set-default EKF2_AID_MASK 2
-param set-default EKF2_GPS_CTRL 0
-
-# LPE: Flow-only mode
-param set-default LPE_FUSION 242
-param set-default LPE_FAKE_ORIGIN 1
-
-param set-default MPC_ALT_MODE 2
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity b/ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity
deleted file mode 100644
index 50ecef1130..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity
+++ /dev/null
@@ -1,13 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Vision Velocity)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-# EKF2: Vision velocity and heading
-param set-default EKF2_AID_MASK 272
-param set-default EKF2_EV_DELAY 5
-param set-default EKF2_GPS_CTRL 0
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1019_gazebo_iris_dual_gps b/ROMFS/px4fmu_common/init.d-posix/airframes/1019_gazebo_iris_dual_gps
new file mode 100644
index 0000000000..b81476fc26
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1019_gazebo_iris_dual_gps
@@ -0,0 +1,33 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Dual GPS)
+#
+# @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
+
+# EKF2: Multi GPS blending
+param set-default SENS_GPS_MASK 7
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1019_iris_dual_gps b/ROMFS/px4fmu_common/init.d-posix/airframes/1019_iris_dual_gps
deleted file mode 100644
index 6f102d9352..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1019_iris_dual_gps
+++ /dev/null
@@ -1,11 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Dual GPS)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-# EKF2: Multi GPS blending
-param set-default SENS_GPS_MASK 7
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus b/ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo_uuv_hippocampus
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo_uuv_hippocampus
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy b/ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo_uuv_bluerov2_heavy
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo_uuv_bluerov2_heavy
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo_plane
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo_plane
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo_plane_cam b/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo_plane_cam
new file mode 100644
index 0000000000..baf464dcd0
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo_plane_cam
@@ -0,0 +1,81 @@
+#!/bin/sh
+#
+# @name Plane SITL with camera
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5
+param set-default TRIM_PITCH -0.15
+
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+
+param set-default FW_SPOILERS_LND 0.4
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_TRIM 0.25
+
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
+# Camera trigger interface is MAVLink
+param set-default TRIG_INTERFACE 3
+
+# Distance trigger mode enabled
+param set-default TRIG_MODE 4
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1031_plane_cam b/ROMFS/px4fmu_common/init.d-posix/airframes/1031_plane_cam
deleted file mode 100644
index b825ad3c90..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1031_plane_cam
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with camera
-#
-
-. ${R}etc/init.d-posix/airframes/1030_plane
-
-# Camera trigger interface is MAVLink
-param set-default TRIG_INTERFACE 3
-
-# Distance trigger mode enabled
-param set-default TRIG_MODE 4
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo_plane_catapult b/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo_plane_catapult
new file mode 100644
index 0000000000..797aaf941e
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo_plane_catapult
@@ -0,0 +1,78 @@
+#!/bin/sh
+#
+# @name Plane SITL with catapult
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5
+param set-default TRIM_PITCH -0.15
+
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+
+param set-default FW_SPOILERS_LND 0.4
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_TRIM 0.25
+
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
+param set-default RWTO_TKOFF 0
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1032_plane_catapult b/ROMFS/px4fmu_common/init.d-posix/airframes/1032_plane_catapult
deleted file mode 100644
index f64918188a..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1032_plane_catapult
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with catapult
-#
-
-. ${R}etc/init.d-posix/airframes/1030_plane
-
-param set-default RWTO_TKOFF 0
-
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric
index 0eb8c34092..49b4973bf0 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric
@@ -57,4 +57,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod b/ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo_techpod
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo_techpod
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer b/ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo_believer
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo_believer
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo_glider b/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo_glider
new file mode 100644
index 0000000000..61bacc045b
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo_glider
@@ -0,0 +1,78 @@
+#!/bin/sh
+#
+# @name Plane SITL with catapult
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5
+param set-default TRIM_PITCH -0.15
+
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+
+param set-default FW_SPOILERS_LND 0.4
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_TRIM 0.25
+
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
+param set-default FW_THR_TRIM 0.0
+param set-default RWTO_TKOFF 0
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1038_glider b/ROMFS/px4fmu_common/init.d-posix/airframes/1038_glider
deleted file mode 100644
index d2f7fc8bb2..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1038_glider
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with catapult
-#
-
-. ${R}etc/init.d-posix/airframes/1030_plane
-
-param set-default FW_THR_TRIM 0.0
-param set-default RWTO_TKOFF 0
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal b/ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal
new file mode 100644
index 0000000000..28d39c39e3
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal
@@ -0,0 +1,65 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_LND_AIRSPD_SC 1.1
+param set-default FW_LND_ANG 5
+param set-default FW_LND_FL_PMIN 9.5
+param set-default FW_LND_FL_PMAX 20
+param set-default FW_LND_FLALT 5
+
+param set-default FW_L1_PERIOD 25
+
+param set-default FW_PR_FF 0.40
+param set-default FW_PR_I 0.05
+param set-default FW_PR_P 0.05
+
+param set-default FW_R_TC 0.45
+param set-default FW_RR_FF 0.40
+param set-default FW_RR_I 0.132
+param set-default FW_RR_P 0.085
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+param set-default RWTO_MAX_PITCH 20
+
+param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8
+
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1039_advanced_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo_advanced_plane
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1039_advanced_plane
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo_advanced_plane
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo_standard_vtol
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo_standard_vtol
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter b/ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo_tailsitter
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo_tailsitter
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo_tiltrotor
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo_tiltrotor
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo_standard_vtol_drop b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo_standard_vtol_drop
new file mode 100644
index 0000000000..9e2eb1599a
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo_standard_vtol_drop
@@ -0,0 +1,93 @@
+#!/bin/sh
+#
+# @name Standard VTOL
+#
+# @type Standard VTOL
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+# TODO: Enable motor failure detection when the
+# VTOL no longer reports 0A for all ESCs in SITL
+param set-default FD_ACT_EN 0
+param set-default FD_ACT_MOT_TOUT 500
+
+param set-default CA_AIRFRAME 2
+
+param set-default CA_ROTOR_COUNT 5
+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 CA_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_PX 0.2
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS2_TRQ_P 1.0
+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
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+
+param set-default FW_L1_PERIOD 12
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_P 0.9
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+param set-default FW_THR_TRIM 0.25
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default MC_ROLLRATE_P 0.3
+param set-default MC_YAW_P 1.6
+
+param set-default MIS_TAKEOFF_ALT 10
+
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_D_ACC 0.1
+
+param set-default NAV_ACC_RAD 5
+
+param set-default VT_FWD_THRUST_EN 4
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_B_TRANS_DUR 8
+param set-default VT_TYPE 2
+
+
+# Gimbal
+param set-default PWM_MAIN_FUNC9 420
+param set-default PWM_MAIN_FUNC10 421
+param set-default PWM_MAIN_FUNC11 422
+
+param set-default RC_MAP_AUX1 8
+param set-default RC_MAP_AUX2 9
+param set-default RC_MAP_AUX3 10
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop
deleted file mode 100644
index 7721de571c..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop
+++ /dev/null
@@ -1,18 +0,0 @@
-#!/bin/sh
-#
-# @name Standard VTOL
-#
-# @type Standard VTOL
-#
-
-. ${R}etc/init.d-posix/airframes/1040_standard_vtol
-
-# Gimbal
-param set-default PWM_MAIN_FUNC9 420
-param set-default PWM_MAIN_FUNC10 421
-param set-default PWM_MAIN_FUNC11 422
-
-param set-default RC_MAP_AUX1 8
-param set-default RC_MAP_AUX2 9
-param set-default RC_MAP_AUX3 10
-
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo_plane_lidar b/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo_plane_lidar
new file mode 100644
index 0000000000..cd3d37b5fb
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo_plane_lidar
@@ -0,0 +1,78 @@
+#!/bin/sh
+#
+# @name Plane SITL with downward facing LIDAR.
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5
+param set-default TRIM_PITCH -0.15
+
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+
+param set-default FW_SPOILERS_LND 0.4
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_TRIM 0.25
+
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
+
+param set-default FW_LND_USETER 1
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1044_plane_lidar b/ROMFS/px4fmu_common/init.d-posix/airframes/1044_plane_lidar
deleted file mode 100644
index 18f93ee04e..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1044_plane_lidar
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with downward facing LIDAR.
-#
-
-. ${R}etc/init.d-posix/airframes/1030_plane
-
-param set-default FW_LND_USETER 1
-
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo_rover
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo_rover
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo_r1_rover
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo_r1_rover
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo_boat
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo_boat
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship b/ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo_cloudship
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship
rename to ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo_cloudship
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480 b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo_typhoon_h480
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
rename to ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo_typhoon_h480
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480.post b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo_typhoon_h480.post
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480.post
rename to ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo_typhoon_h480.post
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
index 9a5075103c..e9e1e436cc 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2020-2023 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,42 +32,40 @@
 ############################################################################
 
 px4_add_romfs_files(
-	10016_iris
-	10017_jmavsim_iris
-	10018_iris_foggy_lidar
-	10019_omnicopter
-	10030_px4vision
-	1010_iris_opt_flow
-	1010_iris_opt_flow.post
-	1011_iris_irlock
-	1012_iris_rplidar
-	1013_iris_vision
-	1013_iris_vision.post
-	1015_iris_obs_avoid
-	1015_iris_obs_avoid.post
-	1017_iris_opt_flow_mockup
-	1018_iris_vision_velocity
-	1019_iris_dual_gps
-	1021_uuv_hippocampus
-	1022_uuv_bluerov2_heavy
-	1030_plane
-	1031_plane_cam
-	1032_plane_catapult
+
+	1010_gazebo_iris_opt_flow
+	1010_gazebo_iris_opt_flow.post
+	1011_gazebo_iris_irlock
+	1012_gazebo_iris_rplidar
+	1013_gazebo_iris_vision
+	1013_gazebo_iris_vision.post
+	1015_gazebo_iris_obs_avoid
+	1015_gazebo_iris_obs_avoid.post
+	1017_gazebo_iris_opt_flow_mockup
+	1019_gazebo_iris_dual_gps
+	1021_gazebo_uuv_hippocampus
+	1022_gazebo_uuv_bluerov2_heavy
+	1030_gazebo_plane
+	1031_gazebo_plane_cam
+	1032_gazebo_plane_catapult
 	1033_jsbsim_rascal
 	1034_flightgear_rascal-electric
-	1035_techpod
+	1035_gazebo_techpod
 	1036_jsbsim_malolo
-	1037_believer
-	1038_glider
-	1039_advanced_plane
-	1040_standard_vtol
-	1041_tailsitter
-	1042_tiltrotor
-	1043_standard_vtol_drop
-	1044_plane_lidar
-	1060_rover
-	1061_r1_rover
-	1070_boat
+	1037_gazebo_believer
+	1038_gazebo_glider
+	1039_gazebo_advanced_plane
+	1040_gazebo_standard_vtol
+	1041_gazebo_tailsitter
+	1042_gazebo_tiltrotor
+	1043_gazebo_standard_vtol_drop
+	1044_gazebo_plane_lidar
+	1060_gazebo_rover
+	1061_gazebo_r1_rover
+	1062_flightgear_tf-r1
+	1070_gazebo_boat
+
+	2507_gazebo_cloudship
 
 	3010_jsbsim_quadrotor_x
 	3011_jsbsim_hexarotor_x
@@ -75,10 +73,14 @@ px4_add_romfs_files(
 	4001_gz_x500
 	4002_gz_x500_depth
 
-	2507_cloudship
+	6011_gazebo_typhoon_h480
+	6011_gazebo_typhoon_h480.post
 
-	6011_typhoon_h480
-	6011_typhoon_h480.post
+	10016_gazebo_iris
+	10017_jmavsim_iris
+	10018_gazebo_iris_foggy_lidar
+	10019_gazebo_omnicopter
+	10030_gazebo_px4vision
 
 	10040_sihsim_quadx
 	10041_sihsim_airplane
diff --git a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
index dd55a1bd13..68810a980b 100644
--- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
@@ -131,7 +131,7 @@ elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)"
 	echo "INFO  [init] jMAVSim simulator"
 
 	if jps | grep -i jmavsim; then
-		kill $(jps | grep -i jmavsim | awk '{print $1}') || true
+		kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
 		sleep 1
 	fi
 
diff --git a/Tools/simulation/gazebo/sitl_multiple_run.sh b/Tools/simulation/gazebo/sitl_multiple_run.sh
index 3a33cabaab..4148e851b2 100755
--- a/Tools/simulation/gazebo/sitl_multiple_run.sh
+++ b/Tools/simulation/gazebo/sitl_multiple_run.sh
@@ -1,6 +1,6 @@
 #!/bin/bash
 # run multiple instances of the 'px4' binary, with the gazebo SITL simulation
-# It assumes px4 is already built, with 'make px4_sitl_default gazebo'
+# It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo'
 
 # The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
 # For example gazebo can be run like this:
@@ -69,7 +69,7 @@ num_vehicles=${NUM_VEHICLES:=3}
 world=${WORLD:=empty}
 target=${TARGET:=px4_sitl_default}
 vehicle_model=${VEHICLE_MODEL:="iris"}
-export PX4_SIM_MODEL=${vehicle_model}
+export PX4_SIM_MODEL=gazebo_${vehicle_model}
 
 echo ${SCRIPT}
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
@@ -126,7 +126,7 @@ else
 
 		m=0
 		while [ $m -lt ${target_number} ]; do
-			export PX4_SIM_MODEL=${target_vehicle}
+			export PX4_SIM_MODEL=gazebo_${target_vehicle}
 			spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
 			m=$(($m + 1))
 			n=$(($n + 1))
diff --git a/Tools/simulation/gazebo/sitl_run.sh b/Tools/simulation/gazebo/sitl_run.sh
index 6c74b568d5..def7ac462f 100755
--- a/Tools/simulation/gazebo/sitl_run.sh
+++ b/Tools/simulation/gazebo/sitl_run.sh
@@ -67,7 +67,7 @@ fi
 # be running from last time
 pkill -x gazebo || true
 
-export PX4_SIM_MODEL=${model}
+export PX4_SIM_MODEL=gazebo_${model}
 export PX4_SIM_WORLD=${world}
 
 SIM_PID=0
@@ -75,10 +75,6 @@ SIM_PID=0
 if [ -x "$(command -v gazebo)" ]; then
 	# Get the model name
 	model_name="${model}"
-	# Check if a 'modelname-gen.sdf' file exist for the models using jinja and generating the SDF files
-	if [ -f "${src_path}/Tools/simulation/gazebo/sitl_gazebo/models/${model}/${model}-gen.sdf" ]; then
-		model_name="${model}-gen"
-	fi
 
 	# Set the plugin path so Gazebo finds our model and sim
 	source "$src_path/Tools/simulation/gazebo/setup_gazebo.bash" "${src_path}" "${build_path}"
diff --git a/Tools/simulation/sitl_multiple_run.sh b/Tools/simulation/sitl_multiple_run.sh
index a48a4a8919..22b92bfbb1 100755
--- a/Tools/simulation/sitl_multiple_run.sh
+++ b/Tools/simulation/sitl_multiple_run.sh
@@ -19,7 +19,7 @@ pkill -x px4 || true
 
 sleep 1
 
-export PX4_SIM_MODEL=iris
+export PX4_SIM_MODEL=gazebo_iris
 
 n=0
 while [ $n -lt $sitl_num ]; do
diff --git a/launch/posix_sitl.launch b/launch/posix_sitl.launch
index 6c07ddf639..127364fd1e 100644
--- a/launch/posix_sitl.launch
+++ b/launch/posix_sitl.launch
@@ -14,7 +14,7 @@
     <arg name="vehicle" default="iris"/>
     <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
     <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
-    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
+    <env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
 
     <!-- gazebo configs -->
     <arg name="gui" default="true"/>
diff --git a/launch/px4.launch b/launch/px4.launch
index eefc8c2ea9..dc29942fa9 100644
--- a/launch/px4.launch
+++ b/launch/px4.launch
@@ -9,7 +9,7 @@
     <arg name="ID" default="0"/>
     <arg name="interactive" default="true"/>
 
-    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
+    <env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
     <arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
     <arg     if="$(arg interactive)" name="px4_command_arg1" value=""/>
     <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
diff --git a/launch/single_vehicle_spawn.launch b/launch/single_vehicle_spawn.launch
index cbe3d1674c..beb9dcde24 100644
--- a/launch/single_vehicle_spawn.launch
+++ b/launch/single_vehicle_spawn.launch
@@ -13,7 +13,7 @@
     <arg name="est" default="ekf2"/>
     <arg name="vehicle" default="iris"/>
     <arg name="ID" default="1"/>
-    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
+    <env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
     <arg name="mavlink_udp_port" default="14560"/>
     <arg name="mavlink_tcp_port" default="4560"/>
     <arg name="gst_udp_port" default="5600"/>
diff --git a/launch/single_vehicle_spawn_sdf.launch b/launch/single_vehicle_spawn_sdf.launch
index bc3743bfc6..e96f8270fa 100644
--- a/launch/single_vehicle_spawn_sdf.launch
+++ b/launch/single_vehicle_spawn_sdf.launch
@@ -13,7 +13,7 @@
     <arg name="est" default="ekf2"/>
     <arg name="vehicle" default="plane"/>
     <arg name="ID" default="1"/>
-    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
+    <env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
     <arg name="mavlink_udp_port" default="14560"/>
     <arg name="mavlink_tcp_port" default="4560"/>
     <!-- PX4 configs -->
diff --git a/platforms/posix/Debug/launch_sitl.json.in b/platforms/posix/Debug/launch_sitl.json.in
index 0ae3d0e539..1cd0fa6cdb 100644
--- a/platforms/posix/Debug/launch_sitl.json.in
+++ b/platforms/posix/Debug/launch_sitl.json.in
@@ -99,7 +99,7 @@
             "environment": [
                 {
                     "name": "PX4_SIM_MODEL",
-                    "value": "iris"
+                    "value": "gazebo_iris"
                 }
             ],
             "externalConsole": false,
diff --git a/platforms/posix/src/px4/common/main.cpp b/platforms/posix/src/px4/common/main.cpp
index 8baf5570e1..7fc690ae3d 100644
--- a/platforms/posix/src/px4/common/main.cpp
+++ b/platforms/posix/src/px4/common/main.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2015-2018 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2015-2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -345,22 +345,33 @@ int main(int argc, char **argv)
 
 		ret = run_startup_script(commands_file, absolute_binary_path, instance);
 
+		if (ret == 0) {
+			// We now block here until we need to exit.
+			if (pxh_off) {
+				wait_to_exit();
+
+			} else {
+				px4_daemon::Pxh pxh;
+				pxh.run_pxh();
+			}
+		}
+
+		// delete lock
+		const std::string file_lock_path = std::string(LOCK_FILE_PATH) + '-' + std::to_string(instance);
+		int fd_flock = open(file_lock_path.c_str(), O_RDWR, 0666);
+
+		if (fd_flock >= 0) {
+			unlink(file_lock_path.c_str());
+			flock(fd_flock, LOCK_UN);
+			close(fd_flock);
+		}
+
 		if (ret != 0) {
 			return PX4_ERROR;
 		}
 
-		// We now block here until we need to exit.
-		if (pxh_off) {
-			wait_to_exit();
-
-		} else {
-			px4_daemon::Pxh pxh;
-			pxh.run_pxh();
-		}
-
 		std::string cmd("shutdown");
 		px4_daemon::Pxh::process_line(cmd, true);
-
 	}
 
 	return PX4_OK;
@@ -453,7 +464,7 @@ void register_sig_handler()
 	// SIGINT
 	struct sigaction sig_int {};
 	sig_int.sa_handler = sig_int_handler;
-	sig_int.sa_flags = 0;// not SA_RESTART!
+	sig_int.sa_flags = 0; // not SA_RESTART!
 
 	// SIGPIPE
 	// We want to ignore if a PIPE has been closed.
diff --git a/platforms/posix/src/px4/common/px4_daemon/server.cpp b/platforms/posix/src/px4/common/px4_daemon/server.cpp
index dab591cb3a..c3b012bb84 100644
--- a/platforms/posix/src/px4/common/px4_daemon/server.cpp
+++ b/platforms/posix/src/px4/common/px4_daemon/server.cpp
@@ -228,6 +228,8 @@ Server::_server_main()
 		_unlock();
 	}
 
+	std::string sock_path = get_socket_path(_instance_id);
+	unlink(sock_path.c_str());
 	close(_fd);
 }
 
diff --git a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake
index 37acf693f0..7eb6c1302f 100644
--- a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake
+++ b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake
@@ -62,7 +62,6 @@ set(debuggers
 )
 
 set(models
-	none
 	advanced_plane
 	believer
 	boat
@@ -77,7 +76,6 @@ set(models
 	iris_opt_flow_mockup
 	iris_rplidar
 	iris_vision
-	nxp_cupcar
 	omnicopter
 	plane
 	plane_cam
@@ -86,7 +84,6 @@ set(models
 	px4vision
 	r1_rover
 	rover
-	shell
 	standard_vtol
 	standard_vtol_drop
 	tailsitter
@@ -109,8 +106,62 @@ set(worlds
 	yosemite
 )
 
+# find corresponding airframes
+file(GLOB gazebo_airframes
+     RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes
+     ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_gazebo_*
+)
+
+# remove any .post files
+foreach(gazebo_airframe IN LISTS gazebo_airframes)
+	if(gazebo_airframe MATCHES ".post")
+		list(REMOVE_ITEM gazebo_airframes ${gazebo_airframe})
+	endif()
+endforeach()
+list(REMOVE_DUPLICATES gazebo_airframes)
+
+foreach(gazebo_airframe IN LISTS gazebo_airframes)
+	set(model_only)
+	string(REGEX REPLACE ".*_gazebo_" "" model_only ${gazebo_airframe})
+
+	if(EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}")
+
+		if((EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}/${model_only}.sdf")
+		OR (EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}/${model_only}.sdf.jinja"))
+			#message(STATUS "SDF file found for ${model_only}")
+		else()
+			message(WARNING "No SDF file found for ${model_only}")
+		endif()
+
+	else()
+		message(WARNING "model directory ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only} not found")
+	endif()
+endforeach()
+
 foreach(debugger ${debuggers})
 	foreach(model ${models})
+
+		# match model to airframe
+		set(airframe_model_only)
+		set(airframe_sys_autostart)
+		set(gazebo_airframe_found)
+		foreach(gazebo_airframe IN LISTS gazebo_airframes)
+
+			string(REGEX REPLACE ".*_gazebo_" "" airframe_model_only ${gazebo_airframe})
+			string(REGEX REPLACE "_gazebo_.*" "" airframe_sys_autostart ${gazebo_airframe})
+
+			if(model STREQUAL ${airframe_model_only})
+				set(gazebo_airframe_found ${gazebo_airframe})
+				break()
+			endif()
+		endforeach()
+
+		if(gazebo_airframe_found)
+			#message(STATUS "gazebo model: ${model} (${airframe_model_only}), airframe: ${gazebo_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
+		else()
+			message(WARNING "gazebo missing model: ${model} (${airframe_model_only}), airframe: ${gazebo_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
+		endif()
+
 		foreach(world ${worlds})
 			if(world STREQUAL "none")
 				if(debugger STREQUAL "none")
diff --git a/test/mavsdk_tests/process_helper.py b/test/mavsdk_tests/process_helper.py
index 00a29a07b6..e2abe6cc20 100644
--- a/test/mavsdk_tests/process_helper.py
+++ b/test/mavsdk_tests/process_helper.py
@@ -164,7 +164,7 @@ class Px4Runner(Runner):
                 os.path.join(workspace_dir, "test_data"),
                 "-d"
             ]
-        self.env["PX4_SIM_MODEL"] = self.model
+        self.env["PX4_SIM_MODEL"] = "gazebo_" + self.model
         self.env["PX4_SIM_SPEED_FACTOR"] = str(speed_factor)
         self.debugger = debugger
         self.clear_rootfs()
@@ -275,13 +275,6 @@ class GzmodelspawnRunner(Runner):
                                       PX4_GAZEBO_MODELS,
                                       self.model, self.model + ".sdf")
 
-        elif os.path.isfile(os.path.join(workspace_dir,
-                                         PX4_GAZEBO_MODELS,
-                                         self.model, self.model + "-gen.sdf")):
-
-            model_path = os.path.join(workspace_dir,
-                                      PX4_GAZEBO_MODELS,
-                                      self.model, self.model + "-gen.sdf")
         else:
             raise Exception("Model not found")