diff --git a/Makefile b/Makefile
index 096a058653..b0f49eda3e 100644
--- a/Makefile
+++ b/Makefile
@@ -184,7 +184,7 @@ 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_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim \
-	jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_vtol gazebo_iris gazebo_vtol
+	jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_tailsitter
 $(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
 
 .PHONY: clean
diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
index d362e661b4..6072426bbc 160000
--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@@ -1 +1 @@
-Subproject commit d362e661b46474153f43f51a6eb947d4fda1bebe
+Subproject commit 6072426bbca9407f2f26698d3e20870c1744b4fb
diff --git a/Tools/sitl_run.sh b/Tools/sitl_run.sh
index 8767f9f841..7dee02868a 100755
--- a/Tools/sitl_run.sh
+++ b/Tools/sitl_run.sh
@@ -88,9 +88,9 @@ then
 	ddd --debugger gdb --args mainapp ../../../../${rc_script}_${program}
 elif [ "$debugger" == "valgrind" ]
 then
-	valgrind ./mainapp ../../../../${rc_script}_${program}
+	valgrind ./mainapp ../../../../${rc_script}_${program}_${model}
 else
-	./mainapp ../../../../${rc_script}_${program}
+	./mainapp ../../../../${rc_script}_${program}_${model}
 fi
 
 if [ "$program" == "jmavsim" ]
diff --git a/posix-configs/SITL/init/rcS_gazebo b/posix-configs/SITL/init/rcS_gazebo_iris
similarity index 100%
rename from posix-configs/SITL/init/rcS_gazebo
rename to posix-configs/SITL/init/rcS_gazebo_iris
diff --git a/posix-configs/SITL/init/rcS_gazebo_tailsitter b/posix-configs/SITL/init/rcS_gazebo_tailsitter
new file mode 100644
index 0000000000..2bf7a78368
--- /dev/null
+++ b/posix-configs/SITL/init/rcS_gazebo_tailsitter
@@ -0,0 +1,64 @@
+uorb start
+simulator start -s
+param load
+param set MAV_TYPE 20
+param set MC_PITCHRATE_P 0.3
+param set MC_ROLLRATE_P 0.3
+param set MC_YAW_P 2.0
+param set MC_YAWRATE_P 0.35
+param set VT_TYPE 0
+param set SYS_AUTOSTART 4010
+param set SYS_RESTART_TYPE 2
+dataman start
+param set CAL_GYRO0_ID 2293760
+param set CAL_ACC0_ID 1376256
+param set CAL_ACC1_ID 1310720
+param set CAL_MAG0_ID 196608
+param set CAL_GYRO0_XOFF 0.01
+param set CAL_ACC0_XOFF 0.01
+param set CAL_ACC0_YOFF -0.01
+param set CAL_ACC0_ZOFF 0.01
+param set CAL_ACC0_XSCALE 1.01
+param set CAL_ACC0_YSCALE 1.01
+param set CAL_ACC0_ZSCALE 1.01
+param set CAL_ACC1_XOFF 0.01
+param set CAL_MAG0_XOFF 0.01
+param set MPC_XY_P 0.15
+param set MPC_XY_VEL_P 0.05
+param set MPC_XY_VEL_D 0.005
+param set MPC_XY_FF 0.1
+param set SENS_BOARD_ROT 8
+param set COM_RC_IN_MODE 2
+rgbled start
+tone_alarm start
+gyrosim start
+accelsim start
+barosim start
+adcsim start
+gpssim start
+measairspeedsim start
+pwm_out_sim mode_pwm
+sleep 1
+sensors start
+commander start
+land_detector start multicopter
+navigator start
+attitude_estimator_q start
+position_estimator_inav start
+vtol_att_control start
+mc_pos_control start
+mc_att_control start
+fw_pos_control_l1 start
+fw_att_control start
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
+mavlink start -u 14556 -r 2000000
+mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
+mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
+mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
+mavlink stream -r 80 -s ATTITUDE -u 14556
+mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
+mavlink stream -r 20 -s RC_CHANNELS -u 14556
+mavlink stream -r 250 -s HIGHRES_IMU -u 14556
+mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
+mavlink boot_complete
+sdlog2 start -r 100 -e -t -a
diff --git a/src/firmware/posix/CMakeLists.txt b/src/firmware/posix/CMakeLists.txt
index fb7490ffe2..efc81d6335 100644
--- a/src/firmware/posix/CMakeLists.txt
+++ b/src/firmware/posix/CMakeLists.txt
@@ -34,7 +34,7 @@ add_dependencies(run_config mainapp)
 
 foreach(viewer none jmavsim gazebo)
 	foreach(debugger none gdb lldb ddd valgrind)
-		foreach(model none iris vtol)
+		foreach(model none iris tailsitter)
 			if (debugger STREQUAL "none")
 				if (model STREQUAL "none")
 					set(_targ_name "${viewer}")
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index ca45cdf2b8..2a6efc7fa7 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -80,7 +80,7 @@ void Simulator::pack_actuator_message(mavlink_hil_controls_t &actuator_msg)
 	// for now we only support quadrotors
 	unsigned n = 4;
 
-	if (_vehicle_status.is_rotary_wing) {
+	if (_vehicle_status.is_rotary_wing || _vehicle_status.is_vtol) {
 		for (unsigned i = 0; i < 8; i++) {
 			if (_actuators.output[i] > PWM_LOWEST_MIN / 2) {
 				if (i < n) {
@@ -113,7 +113,7 @@ void Simulator::pack_actuator_message(mavlink_hil_controls_t &actuator_msg)
 
 	actuator_msg.time_usec = hrt_absolute_time();
 	actuator_msg.roll_ailerons = out[0];
-	actuator_msg.pitch_elevator = _vehicle_status.is_rotary_wing ? out[1] : -out[1];
+	actuator_msg.pitch_elevator = (_vehicle_status.is_rotary_wing || _vehicle_status.is_vtol)  ? out[1] : -out[1];
 	actuator_msg.yaw_rudder = out[2];
 	actuator_msg.throttle = out[3];
 	actuator_msg.aux1 = out[4];
diff --git a/src/platforms/posix/drivers/gyrosim/gyrosim.cpp b/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
index 0ac023285c..c7f78dbca6 100644
--- a/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
+++ b/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
@@ -95,9 +95,9 @@
 // Product Name	Product Revision
 #define GYROSIMES_REV_C4		0x14
 
-#define GYROSIM_ACCEL_DEFAULT_RATE	1000
+#define GYROSIM_ACCEL_DEFAULT_RATE	400
 
-#define GYROSIM_GYRO_DEFAULT_RATE	1000
+#define GYROSIM_GYRO_DEFAULT_RATE	400
 
 #define GYROSIM_ONE_G			9.80665f