diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index 56e7c19012..818ef508c7 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -14,7 +14,10 @@
                 "-l"
             ],
             "options": {
-                "cwd": "${workspaceRoot}"
+                "cwd": "${workspaceRoot}",
+                "env": {
+                    "PX4_SIM_SPEED_FACTOR": "1"
+                }
             },
             "presentation": {
                 "reveal": "always",
@@ -61,7 +64,8 @@
                 "cwd": "${workspaceRoot}",
                 "env": {
                     "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models"
+                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
             "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/iris.world & gzclient",