diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1 b/ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1 b/ROMFS/px4fmu_common/init.d-posix/airframes/17001_flightgear_tf-g1
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
rename to ROMFS/px4fmu_common/init.d-posix/airframes/17001_flightgear_tf-g1
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/17002_tf-g2 b/ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/17002_tf-g2
rename to ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
index 09cc2126c1..102780e874 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -54,6 +54,7 @@ px4_add_romfs_files(
 	1031_plane_cam
 	1032_plane_catapult
 	1033_jsbsim_rascal
+	1034_flightgear_rascal-electric
 	1035_techpod
 	1036_jsbsim_malolo
 	1037_believer
@@ -66,7 +67,6 @@ px4_add_romfs_files(
 	1044_plane_lidar
 	1060_rover
 	1061_r1_rover
-	1062_tf-r1
 	1070_boat
 
 	3010_jsbsim_quadrotor_x
@@ -74,8 +74,6 @@ px4_add_romfs_files(
 
 	4001_x500
 
-	17001_tf-g1
-	17002_tf-g2
 	2507_cloudship
 
 	6011_typhoon_h480
@@ -84,4 +82,7 @@ px4_add_romfs_files(
 	10040_sihsim_quadx
 	10041_sihsim_airplane
 	10042_sihsim_xvert
+
+	17001_flightgear_tf-g1
+	17002_flightgear_tf-g2
 )
diff --git a/Tools/simulation/flightgear/sitl_run.sh b/Tools/simulation/flightgear/sitl_run.sh
index 5dc75c36c7..efed15d19d 100755
--- a/Tools/simulation/flightgear/sitl_run.sh
+++ b/Tools/simulation/flightgear/sitl_run.sh
@@ -22,7 +22,7 @@ echo build_path: $build_path
 rootfs="$build_path/rootfs" # this is the working directory
 mkdir -p "$rootfs"
 
-export PX4_SIM_MODEL=${model}
+export PX4_SIM_MODEL=flightgear_${model}
 
 echo "FG setup"
 cd "${src_path}/Tools/simulation/flightgear/flightgear_bridge/"
diff --git a/src/modules/simulation/simulator_mavlink/sitl_targets_flightgear.cmake b/src/modules/simulation/simulator_mavlink/sitl_targets_flightgear.cmake
index 9c5f09aeaf..809a988fb9 100644
--- a/src/modules/simulation/simulator_mavlink/sitl_targets_flightgear.cmake
+++ b/src/modules/simulation/simulator_mavlink/sitl_targets_flightgear.cmake
@@ -1,43 +1,84 @@
 if(ENABLE_LOCKSTEP_SCHEDULER STREQUAL "no")
 
-	px4_add_git_submodule(TARGET git_flightgear_bridge PATH "${PX4_SOURCE_DIR}/Tools/simulation/flightgear/flightgear_bridge")
+	find_program(FGFS_PATH "fgfs")
 
-	include(ExternalProject)
-	ExternalProject_Add(flightgear_bridge
-		SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/flightgear/flightgear_bridge
-		CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
-		BINARY_DIR ${PX4_BINARY_DIR}/build_flightgear_bridge
-		INSTALL_COMMAND ""
-		DEPENDS git_flightgear_bridge
-		USES_TERMINAL_CONFIGURE true
-		USES_TERMINAL_BUILD true
-		EXCLUDE_FROM_ALL true
-		BUILD_ALWAYS 1
-	)
+	if(FGFS_PATH)
 
-	# flighgear targets
-	set(models
-		rascal
-		rascal-electric
-		tf-g1
-		tf-g2
-		tf-r1
-	)
+		px4_add_git_submodule(TARGET git_flightgear_bridge PATH "${PX4_SOURCE_DIR}/Tools/simulation/flightgear/flightgear_bridge")
 
-	# default flightgear target
-	add_custom_target(flightgear
-		COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/flightgear/sitl_run.sh $<TARGET_FILE:px4> "rascal" ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
-		WORKING_DIRECTORY ${SITL_WORKING_DIR}
-		USES_TERMINAL
-		DEPENDS px4 flightgear_bridge
-	)
+		include(ExternalProject)
+		ExternalProject_Add(flightgear_bridge
+			SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/flightgear/flightgear_bridge
+			CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+			BINARY_DIR ${PX4_BINARY_DIR}/build_flightgear_bridge
+			INSTALL_COMMAND ""
+			DEPENDS git_flightgear_bridge
+			USES_TERMINAL_CONFIGURE true
+			USES_TERMINAL_BUILD true
+			EXCLUDE_FROM_ALL true
+			BUILD_ALWAYS 1
+		)
 
-	foreach(model ${models})
-		add_custom_target(flightgear_${model}
-			COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/flightgear/sitl_run.sh $<TARGET_FILE:px4> ${model} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
+		# flighgear targets
+		set(models
+			rascal
+			rascal-electric
+			tf-g1
+			tf-g2
+			tf-r1
+		)
+
+		# find corresponding airframes
+		file(GLOB flightgear_airframes
+			RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes
+			${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_flightgear_*
+		)
+
+		# remove any .post files
+		foreach(flightgear_airframe IN LISTS flightgear_airframes)
+			if(flightgear_airframe MATCHES ".post")
+				list(REMOVE_ITEM flightgear_airframes ${flightgear_airframe})
+			endif()
+		endforeach()
+		list(REMOVE_DUPLICATES flightgear_airframes)
+
+		# default flightgear target
+		add_custom_target(flightgear
+			COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/flightgear/sitl_run.sh $<TARGET_FILE:px4> "rascal" ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
 			WORKING_DIRECTORY ${SITL_WORKING_DIR}
 			USES_TERMINAL
 			DEPENDS px4 flightgear_bridge
 		)
-	endforeach()
+
+		foreach(model ${models})
+
+			# match model to airframe
+			set(airframe_model_only)
+			set(airframe_sys_autostart)
+			set(flightgear_airframe_found)
+			foreach(flightgear_airframe IN LISTS flightgear_airframes)
+
+				string(REGEX REPLACE ".*_flightgear_" "" airframe_model_only ${flightgear_airframe})
+				string(REGEX REPLACE "_flightgear_.*" "" airframe_sys_autostart ${flightgear_airframe})
+
+				if(model STREQUAL ${airframe_model_only})
+					set(flightgear_airframe_found ${flightgear_airframe})
+					break()
+				endif()
+			endforeach()
+
+			if(flightgear_airframe_found)
+				#message(STATUS "flightgear model: ${model} (${airframe_model_only}), airframe: ${flightgear_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
+			else()
+				message(WARNING "flightgear missing model: ${model} (${airframe_model_only}), airframe: ${flightgear_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
+			endif()
+
+			add_custom_target(flightgear_${model}
+				COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/flightgear/sitl_run.sh $<TARGET_FILE:px4> ${model} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
+				WORKING_DIRECTORY ${SITL_WORKING_DIR}
+				USES_TERMINAL
+				DEPENDS px4 flightgear_bridge
+			)
+		endforeach()
+	endif()
 endif()