diff --git a/Tools/sitl_run.sh b/Tools/sitl_run.sh
index 7bd1a75bb2..d80fcc2c70 100755
--- a/Tools/sitl_run.sh
+++ b/Tools/sitl_run.sh
@@ -1,17 +1,22 @@
 #!/bin/bash
 cp Tools/posix_lldbinit build_posix_sitl_simple/src/firmware/posix/.lldbinit
 cp Tools/posix.gdbinit build_posix_sitl_simple/src/firmware/posix/.gdbinit
+
+SIM_PID=0
+
 if [ "$3" == "jmavsim" ]
 then
 	cd Tools/jMAVSim
 	ant
 	java -Djava.ext.dirs= -cp lib/*:out/production/jmavsim.jar me.drton.jmavsim.Simulator -udp 127.0.0.1:14560 &
+	SIM_PID=echo $!
 	cd ../..
 elif [ "$3" == "gazebo" ]
 then
 	if [ -x "$(command -v gazebo)" ]
 	then
 		gazebo ${SITL_GAZEBO_PATH}/worlds/iris.world &
+		SIM_PID=echo $!
 	else
 		echo "You need to have gazebo simulator installed!"
 		exit 1
@@ -31,3 +36,11 @@ then
 else
 	./mainapp ../../../../$1
 fi
+
+if [ "$3" == "jmavsim" ]
+then
+	kill -9 $SIM_PID
+elif [ "$3" == "gazebo" ]
+then
+	kill -9 $SIM_PID
+fi