diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid b/ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid.post b/ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid.post
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid.post
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid.post
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_depth_camera b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_depth_camera
new file mode 100644
index 0000000000..3dc7b0fd75
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_depth_camera
@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor with a depth camera (forward-facing)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1016_gazebo-classic_iris_downward_depth_camera b/ROMFS/px4fmu_common/init.d-posix/airframes/1016_gazebo-classic_iris_downward_depth_camera
new file mode 100644
index 0000000000..b7e7bf51b9
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1016_gazebo-classic_iris_downward_depth_camera
@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor with a depth camera (downward-facing)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
index 0ba0c0be9d..ded0ace48b 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -39,8 +39,10 @@ px4_add_romfs_files(
 	1012_gazebo-classic_iris_rplidar
 	1013_gazebo-classic_iris_vision
 	1013_gazebo-classic_iris_vision.post
-	1015_gazebo-classic_iris_obs_avoid
-	1015_gazebo-classic_iris_obs_avoid.post
+	1014_gazebo-classic_iris_obs_avoid
+	1014_gazebo-classic_iris_obs_avoid.post
+	1015_gazebo-classic_iris_depth_camera
+	1016_gazebo-classic_iris_downward_depth_camera
 	1017_gazebo-classic_iris_opt_flow_mockup
 	1019_gazebo-classic_iris_dual_gps
 	1021_gazebo-classic_uuv_hippocampus
diff --git a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake
index 7b73e03f75..37e4014d20 100644
--- a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake
+++ b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake
@@ -81,6 +81,8 @@ if(gazebo_FOUND)
 		iris_foggy_lidar
 		iris_irlock
 		iris_obs_avoid
+		iris_depth_camera
+		iris_downward_depth_camera
 		iris_opt_flow
 		iris_opt_flow_mockup
 		iris_rplidar