diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1029_plane_dynamicsoaring b/ROMFS/px4fmu_common/init.d-posix/airframes/1029_plane_dynamicsoaring
new file mode 100644
index 0000000000..4d733a9475
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1029_plane_dynamicsoaring
@@ -0,0 +1,6 @@
+#!/bin/sh
+#
+# @name Plane Dynamic Soaring SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
index 71c9979470..155277752c 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(
 	1020_uuv_generic
 	1021_uuv_hippocampus
 	1022_uuv_bluerov2_heavy
+	1029_plane_dynamicsoaring
 	1030_plane
 	1031_plane_cam
 	1032_plane_catapult
diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
index 59a34c17ff..bd23d36626 160000
--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@@ -1 +1 @@
-Subproject commit 59a34c17ffd0256f3b8a0c3786d32ef650f673e6
+Subproject commit bd23d366260abd893773456162650cf98a414111
diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake
index db5f06b6fc..e415b635e7 100644
--- a/platforms/posix/cmake/sitl_target.cmake
+++ b/platforms/posix/cmake/sitl_target.cmake
@@ -139,6 +139,7 @@ set(models
 	plane
 	plane_cam
 	plane_catapult
+	plane_dynamicsoaring
 	plane_lidar
 	r1_rover
 	rover
diff --git a/src/modules/fw_dyn_soar_estimator/fw_dyn_soar_estimator_params.c b/src/modules/fw_dyn_soar_estimator/fw_dyn_soar_estimator_params.c
index e1c68ec57a..4f55421df1 100644
--- a/src/modules/fw_dyn_soar_estimator/fw_dyn_soar_estimator_params.c
+++ b/src/modules/fw_dyn_soar_estimator/fw_dyn_soar_estimator_params.c
@@ -78,4 +78,4 @@ PARAM_DEFINE_FLOAT(DS_SIGMA_R_V, 1.f);
  * @increment 0.1
  * @group FW DYN SOAR Control
  */
-PARAM_DEFINE_FLOAT(DS_INIT_H, 60.f);
\ No newline at end of file
+PARAM_DEFINE_FLOAT(DS_INIT_H, 100.f);
\ No newline at end of file