diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4014_gz_x500_mono_cam_down b/ROMFS/px4fmu_common/init.d-posix/airframes/4014_gz_x500_mono_cam_down
new file mode 100644
index 0000000000..199e4ecff3
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4014_gz_x500_mono_cam_down
@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# @name Gazebo x500 mono cam
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_mono_cam_down}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
index 9235b2e663..d53330cec1 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -85,6 +85,7 @@ px4_add_romfs_files(
 	4011_gz_lawnmower
 	4012_gz_rover_ackermann
 	4013_gz_x500_lidar
+	4014_gz_x500_mono_cam_down
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
diff --git a/src/modules/simulation/gz_bridge/CMakeLists.txt b/src/modules/simulation/gz_bridge/CMakeLists.txt
index c7d36e36a5..0d1e8eed66 100644
--- a/src/modules/simulation/gz_bridge/CMakeLists.txt
+++ b/src/modules/simulation/gz_bridge/CMakeLists.txt
@@ -94,6 +94,7 @@ if(gz-transport_FOUND)
 		baylands
   		lawn
 		rover
+		aruco
 	)
 
 	# find corresponding airframes