diff --git a/boards/px4/sitl/sitl.cmake b/boards/px4/sitl/sitl.cmake
new file mode 100644
index 0000000000..abbedac2fd
--- /dev/null
+++ b/boards/px4/sitl/sitl.cmake
@@ -0,0 +1,18 @@
+set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
+set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")
+
+set(config_sitl_debugger disable CACHE STRING "debugger for sitl")
+set_property(CACHE config_sitl_debugger PROPERTY STRINGS "disable;gdb;lldb")
+
+# If the environment variable 'replay' is defined, we are building with replay
+# support. In this case, we enable the orb publisher rules.
+set(REPLAY_FILE "$ENV{replay}")
+if(REPLAY_FILE)
+	message(STATUS "Building with uorb publisher rules support")
+	add_definitions(-DORB_USE_PUBLISHER_RULES)
+
+	message(STATUS "Building without lockstep for replay")
+	set(ENABLE_LOCKSTEP_SCHEDULER no)
+else()
+	set(ENABLE_LOCKSTEP_SCHEDULER yes)
+endif()