diff --git a/Makefile b/Makefile
index 06ba4ae4bf..4632699433 100644
--- a/Makefile
+++ b/Makefile
@@ -200,7 +200,8 @@ endif
 
 sitl_quad:
 	$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rcS
-
+sitl_quad_gazebo:
+	$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rc_iris_ros
 sitl_plane:
 	$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rc.fixed_wing
 
diff --git a/posix-configs/SITL/init/rcS b/posix-configs/SITL/init/rcS
index c303335c3e..7388259bc5 100644
--- a/posix-configs/SITL/init/rcS
+++ b/posix-configs/SITL/init/rcS
@@ -26,6 +26,7 @@ param set CAL_MAG0_XOFF 0.01
 param set MPC_XY_P 0.4
 param set MPC_XY_VEL_P 0.2
 param set MPC_XY_VEL_D 0.005
+param set SENS_BOARD_ROT 0
 rgbled start
 tone_alarm start
 gyrosim start
@@ -50,4 +51,4 @@ 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 250 -s HIGHRES_IMU -u 14556
\ No newline at end of file
diff --git a/posix-configs/SITL/init/rc_iris_ros b/posix-configs/SITL/init/rc_iris_ros
new file mode 100644
index 0000000000..55710caaa7
--- /dev/null
+++ b/posix-configs/SITL/init/rc_iris_ros
@@ -0,0 +1,69 @@
+uorb start
+simulator start -s
+param load
+param set MAV_TYPE 2
+param set MC_PITCHRATE_P 0.15
+param set MC_ROLLRATE_P 0.15
+param set MC_YAW_P 2.0
+param set MC_YAWRATE_P 0.35
+param set SYS_AUTOSTART 4010
+param set SYS_RESTART_TYPE 2
+param set COM_RC_IN_MODE 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 0.4
+param set MPC_XY_VEL_P 0.2
+param set MPC_XY_VEL_D 0.005
+param set MPP_XY_P 1.0
+param set MPP_XY_FF 0.0
+param set MPP_XY_VEL_P 0.01
+param set MPP_XY_VEL_I 0.0
+param set MPP_XY_VEL_D 0.01
+param set MPP_XY_VEL_MAX 2.0
+param set MPP_Z_VEL_P 0.3
+param set MPP_Z_P 2
+param set SENS_BOARD_ROT 8
+param set MP_ROLL_P 3
+param set MP_ROLLRATE_P 0.3
+param set MP_ROLLRATE_I 0.001
+param set MP_ROLLRATE_D 0.001
+param set MP_PITCH_P 4
+param set MP_PITCHRATE_P 0.3
+rgbled start
+tone_alarm start
+gyrosim start
+accelsim start
+barosim start
+adcsim start
+gpssim start
+hil mode_pwm
+commander start
+sensors start
+land_detector start multicopter
+navigator start
+attitude_estimator_q start
+position_estimator_inav start
+mc_pos_control_m start
+mc_att_control_m start
+mixer load /dev/pwm_output0 ../../ROMFS/px4fmu_common/mixers/quad_x.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
+