diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_crazyflie b/ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_crazyflie
new file mode 100644
index 0000000000..c7c392e6c5
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_crazyflie
@@ -0,0 +1,54 @@
+#!/bin/sh
+#
+# @name Gazebo x500 vision
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=crazyflie}
+
+param set-default SIM_GZ_EN 1
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 4
+
+param set-default CA_ROTOR0_PX 0.13
+param set-default CA_ROTOR0_PY 0.22
+param set-default CA_ROTOR0_KM 0.05
+
+param set-default CA_ROTOR1_PX -0.13
+param set-default CA_ROTOR1_PY -0.20
+param set-default CA_ROTOR1_KM 0.05
+
+param set-default CA_ROTOR2_PX 0.13
+param set-default CA_ROTOR2_PY -0.22
+param set-default CA_ROTOR2_KM -0.05
+
+param set-default CA_ROTOR3_PX -0.13
+param set-default CA_ROTOR3_PY 0.20
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+
+param set-default SIM_GZ_EC_MIN1 150
+param set-default SIM_GZ_EC_MIN2 150
+param set-default SIM_GZ_EC_MIN3 150
+param set-default SIM_GZ_EC_MIN4 150
+
+param set-default SIM_GZ_EC_MAX1 1000
+param set-default SIM_GZ_EC_MAX2 1000
+param set-default SIM_GZ_EC_MAX3 1000
+param set-default SIM_GZ_EC_MAX4 1000
+
+param set-default MPC_THR_HOVER 0.60
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
index 8e1c82b42f..86e1ed5c6b 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -75,6 +75,7 @@ px4_add_romfs_files(
4003_gz_rc_cessna
4004_gz_standard_vtol
4005_gz_x500_vision
+ 4006_gz_crazyflie
6011_gazebo-classic_typhoon_h480
6011_gazebo-classic_typhoon_h480.post
diff --git a/Tools/simulation/gz/models/crazyflie/model.config b/Tools/simulation/gz/models/crazyflie/model.config
new file mode 100644
index 0000000000..0b927fc67f
--- /dev/null
+++ b/Tools/simulation/gz/models/crazyflie/model.config
@@ -0,0 +1,24 @@
+
+
+
+ crazyflie
+ 1.0
+ model.sdf
+
+ Kimberly McGuire (Bitcraze AB)
+ kimberly@bitcraze.io
+
+
+ A model of the Crazyflie 2.X nano-quadcopter
+
+
diff --git a/Tools/simulation/gz/models/crazyflie/model.sdf b/Tools/simulation/gz/models/crazyflie/model.sdf
new file mode 100644
index 0000000000..f9875e2d61
--- /dev/null
+++ b/Tools/simulation/gz/models/crazyflie/model.sdf
@@ -0,0 +1,290 @@
+
+
+
+
+
+ 0 0 0.0 0 0 3.14
+
+
+ 0 0 0 0 0 0
+ 0.025
+
+ 0.000016572
+ 0.00
+ 0.00
+ 0.000016656
+ 0.00000
+ 0.000029262
+
+
+
+ 0 0 0 0 0 0
+
+
+ 0.10 0.10 0.03
+
+
+
+
+ 0 0 0 0 -0 0
+
+
+ 1 1 1
+ model://crazyflie/meshes/collada_files/cf2_assembly.dae
+
+
+
+
+
+ 0.031 -0.031 0.021 0 0 0
+
+ 0 0 0 0 -0 0
+ 0.0008
+
+ 0.000000002*70
+ 0.000000167*70
+ 0.000000168*70
+ 0
+ 0
+ 0
+
+
+
+ 0 0 0 0 -0 0
+
+
+ 1 1 1
+ model://crazyflie/meshes/collada_files/ccw_prop.dae
+
+
+
+
+
+ -0.031 -0.031 0.021 0 0 0
+
+ 0 0 0 0 -0 0
+ 0.0008
+
+ 0.000000002*50
+ 0.000000167*50
+ 0.000000168*50
+ 0
+ 0
+ 0
+
+
+
+ 0 0 0 0 -0 0
+
+
+ 1 1 1
+ model://crazyflie/meshes/collada_files/cw_prop.dae
+
+
+
+
+
+ -0.031 0.031 0.021 0 0 0
+
+ 0 0 0 0 -0 0
+ 0.0008
+
+ 0.000000002*50
+ 0.000000167*50
+ 0.000000168*50
+ 0
+ 0
+ 0
+
+
+
+ 0 0 0 0 -0 0
+
+
+ 1 1 1
+ model://crazyflie/meshes/collada_files/ccw_prop.dae
+
+
+
+
+
+ 0.031 0.031 0.021 0 0 0
+
+ 0 0 0 0 -0 0
+ 0.0008
+
+ 0.000000002*50
+ 0.000000167*50
+ 0.000000168*50
+ 0
+ 0
+ 0
+
+
+
+ 0 0 0 0 -0 0
+
+
+ 1 1 1
+ model://crazyflie/meshes/collada_files/cw_prop.dae
+
+
+
+
+
+ crazyflie/m1_prop
+ crazyflie/body
+
+ 0 0 1
+
+ -1e+16
+ 1e+16
+
+
+ 0
+ 0
+
+
+
+
+ crazyflie/m2_prop
+ crazyflie/body
+
+ 0 0 1
+
+ -1e+16
+ 1e+16
+
+
+ 0
+ 0
+
+
+
+
+ crazyflie/m3_prop
+ crazyflie/body
+
+ 0 0 1
+
+ -1e+16
+ 1e+16
+
+
+ 0
+ 0
+
+
+
+
+ crazyflie/m4_prop
+ crazyflie/body
+
+ 0 0 1
+
+ -1e+16
+ 1e+16
+
+
+ 0
+ 0
+
+
+
+
+ crazyflie
+ crazyflie/m1_joint
+ crazyflie/m1_prop
+ ccw
+ 0.0125
+ 0.025
+ 2618
+ 1.28192e-08
+ 0.005964552
+ gazebo/command/motor_speed
+ 0
+ 8.06428e-05
+ 0.0000001
+ motor_speed/0
+ 150
+ velocity
+
+
+ crazyflie
+ crazyflie/m2_joint
+ crazyflie/m2_prop
+ cw
+ 0.0125
+ 0.025
+ 2618
+ 1.28192e-08
+ 0.005964552
+ gazebo/command/motor_speed
+ 1
+ 8.06428e-05
+ 0.0000001
+ motor_speed/1
+ 150
+ velocity
+
+
+ crazyflie
+ crazyflie/m3_joint
+ crazyflie/m3_prop
+ ccw
+ 0.0125
+ 0.025
+ 2618
+ 1.28192e-08
+ 0.005964552
+ gazebo/command/motor_speed
+ 2
+ 8.06428e-05
+ 0.0000001
+ motor_speed/2
+ 150
+ velocity
+
+
+ crazyflie
+ crazyflie/m4_joint
+ crazyflie/m4_prop
+ cw
+ 0.0125
+ 0.025
+ 2618
+ 1.28192e-08
+ 0.005964552
+ gazebo/command/motor_speed
+ 3
+ 8.06428e-05
+ 0.000001
+ motor_speed/3
+ 150
+ velocity
+
+
+ 3
+
+
+