diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index 7e04d089b0..80490d515f 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -170,7 +170,7 @@
             ]
         },
         {
-            "label": "ign gazebo",
+            "label": "gazebo",
             "type": "shell",
             "options": {
                 "cwd": "${workspaceFolder}",
@@ -178,7 +178,7 @@
                     "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gz/models",
                 }
             },
-            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
+            "command": "gz sim -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
             "isBackground": true,
             "presentation": {
                 "echo": true,
@@ -191,7 +191,7 @@
                 "close": false
             },
             "problemMatcher": [],
-            "dependsOn":["ign gazebo kill"]
+            "dependsOn":["gazebo kill"]
         },
         {
             "label": "gazebo-classic kill",
@@ -211,9 +211,9 @@
             "dependsOn":["px4_sitl_cleanup"]
         },
         {
-            "label": "ign gazebo kill",
+            "label": "gazebo kill",
             "type": "shell",
-            "command": "pkill -9 -f 'ign gazebo' || true",
+            "command": "pkill -9 -f 'gz sim' || true",
             "presentation": {
                 "echo": true,
                 "reveal": "never",
diff --git a/platforms/posix/Debug/launch_sitl.json.in b/platforms/posix/Debug/launch_sitl.json.in
index 56c295fb69..2fb0a4bc6b 100644
--- a/platforms/posix/Debug/launch_sitl.json.in
+++ b/platforms/posix/Debug/launch_sitl.json.in
@@ -14,11 +14,11 @@
             "environment": [
                 {
                     "name": "PX4_SIM_MODEL",
-                    "value": "${input:PX4_GZ_MODEL}"
+                    "value": "gz_${input:PX4_GZ_MODEL}"
                 }
             ],
             "externalConsole": false,
-            "postDebugTask": "ign gazebo kill",
+            "postDebugTask": "gazebo kill",
             "linux": {
                 "MIMode": "gdb",
                 "externalConsole": false,
@@ -222,6 +222,9 @@
             "description": "GZ vehicle model",
             "options": [
               "x500",
+              "x500_depth",
+              "rc_cessna",
+              "standard_vtol",
             ],
             "default": "x500"
         }