diff --git a/Tools/jMAVSim b/Tools/jMAVSim
index 4e49f05e57..fec27e3ce5 160000
--- a/Tools/jMAVSim
+++ b/Tools/jMAVSim
@@ -1 +1 @@
-Subproject commit 4e49f05e57d9f7555259843b8081ec7e607ef49e
+Subproject commit fec27e3ce567c794b5c364dc9856b55431130181
diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
index 380fce8b47..b9ed67482e 160000
--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@@ -1 +1 @@
-Subproject commit 380fce8b478361b086cef18597f885002975e701
+Subproject commit b9ed67482e940124133a281da963a8239e8b574c
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 1b2484c86a..a917faf146 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -2172,11 +2172,11 @@ protected:
 				for (unsigned i = 0; i < 8; i++) {
 					if (act.output[i] > PWM_DEFAULT_MIN / 2) {
 						if (i < n) {
-							/* scale PWM out 900..2100 us to 0..1 for rotors */
+							/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to -1..1 for rotors */
 							out[i] = (act.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN);
 
 						} else {
-							/* scale PWM out 900..2100 us to -1..1 for other channels */
+							/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to -1..1 for other channels */
 							out[i] = (act.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2);
 						}
 
@@ -2192,11 +2192,11 @@ protected:
 				for (unsigned i = 0; i < 8; i++) {
 					if (act.output[i] > PWM_DEFAULT_MIN / 2) {
 						if (i != 3) {
-							/* scale PWM out 900..2100 us to -1..1 for normal channels */
+							/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to -1..1 for normal channels */
 							out[i] = (act.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2);
 
 						} else {
-							/* scale PWM out 900..2100 us to 0..1 for throttle */
+							/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to 0..1 for throttle */
 							out[i] = (act.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN);
 						}
 
diff --git a/src/modules/simulator/simulator.h b/src/modules/simulator/simulator.h
index 812686a3a4..0e755f4b66 100644
--- a/src/modules/simulator/simulator.h
+++ b/src/modules/simulator/simulator.h
@@ -241,7 +241,8 @@ private:
 		_flow_pub(nullptr),
 		_dist_pub(nullptr),
 		_battery_pub(nullptr),
-		_initialized(false)
+		_initialized(false),
+		_system_type(0)
 #ifndef __PX4_QURT
 		,
 		_rc_channels_pub(nullptr),
@@ -257,6 +258,11 @@ private:
 		_vehicle_status{}
 #endif
 	{
+		// We need to know the type for the correct mapping from
+		// actuator controls to the hil actuator message.
+		param_t param_system_type = param_find("MAV_TYPE");
+		param_get(param_system_type, &_system_type);
+
 		for (unsigned i = 0; i < (sizeof(_actuator_outputs_sub) / sizeof(_actuator_outputs_sub[0])); i++)
 		{
 			_actuator_outputs_sub[i] = -1;
@@ -299,6 +305,9 @@ private:
 	// Lib used to do the battery calculations.
 	Battery _battery;
 
+	// For param MAV_TYPE
+	int32_t _system_type;
+
 	// class methods
 	int publish_sensor_topics(mavlink_hil_sensor_t *imu);
 	int publish_flow_topic(mavlink_hil_optical_flow_t *flow);
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index d23d5e973a..b8556ca0c6 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -78,26 +78,93 @@ const unsigned mode_flag_custom = 1;
 
 using namespace simulator;
 
-void Simulator::pack_actuator_message(mavlink_hil_actuator_controls_t &actuator_msg, unsigned index)
+void Simulator::pack_actuator_message(mavlink_hil_actuator_controls_t &msg, unsigned index)
 {
-	actuator_msg.time_usec = hrt_absolute_time();
+	msg.time_usec = hrt_absolute_time();
 
 	bool armed = (_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
 
 	const float pwm_center = (PWM_DEFAULT_MAX + PWM_DEFAULT_MIN) / 2;
 
-	for (unsigned i = 0; i < MAVLINK_MSG_HIL_ACTUATOR_CONTROLS_FIELD_CONTROLS_LEN; i++) {
-		// scale PWM out 900..2100 us to -1..1 */
-		actuator_msg.controls[i] = (_actuators[index].output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2);
+	/* scale outputs depending on system type */
+	if (_system_type == MAV_TYPE_QUADROTOR ||
+	    _system_type == MAV_TYPE_HEXAROTOR ||
+	    _system_type == MAV_TYPE_OCTOROTOR ||
+	    _system_type == MAV_TYPE_VTOL_DUOROTOR ||
+	    _system_type == MAV_TYPE_VTOL_QUADROTOR ||
+	    _system_type == MAV_TYPE_VTOL_RESERVED2) {
 
-		if (!PX4_ISFINITE(actuator_msg.controls[i])) {
-			actuator_msg.controls[i] = -1.0f;
+		/* multirotors: set number of rotor outputs depending on type */
+
+		unsigned n;
+
+		switch (_system_type) {
+		case MAV_TYPE_QUADROTOR:
+			n = 4;
+			break;
+
+		case MAV_TYPE_HEXAROTOR:
+			n = 6;
+			break;
+
+		case MAV_TYPE_VTOL_DUOROTOR:
+			n = 2;
+			break;
+
+		case MAV_TYPE_VTOL_QUADROTOR:
+			n = 4;
+			break;
+
+		case MAV_TYPE_VTOL_RESERVED2:
+			n = 8;
+			break;
+
+		default:
+			n = 8;
+			break;
+		}
+
+		for (unsigned i = 0; i < 16; i++) {
+			if (_actuators[index].output[i] > PWM_DEFAULT_MIN / 2) {
+				if (i < n) {
+					/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to 0..1 for rotors */
+					msg.controls[i] = (_actuators[index].output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN);
+
+				} else {
+					/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to -1..1 for other channels */
+					msg.controls[i] = (_actuators[index].output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2);
+				}
+
+			} else {
+				/* send 0 when disarmed and for disabled channels */
+				msg.controls[i] = 0.0f;
+			}
+		}
+
+	} else {
+		/* fixed wing: scale throttle to 0..1 and other channels to -1..1 */
+
+		for (unsigned i = 0; i < 16; i++) {
+			if (_actuators[index].output[i] > PWM_DEFAULT_MIN / 2) {
+				if (i != 3) {
+					/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to -1..1 for normal channels */
+					msg.controls[i] = (_actuators[index].output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2);
+
+				} else {
+					/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to 0..1 for throttle */
+					msg.controls[i] = (_actuators[index].output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN);
+				}
+
+			} else {
+				/* set 0 for disabled channels */
+				msg.controls[i] = 0.0f;
+			}
 		}
 	}
 
-	actuator_msg.mode = mode_flag_custom;
-	actuator_msg.mode |= (armed) ? mode_flag_armed : 0;
-	actuator_msg.flags = 0;
+	msg.mode = mode_flag_custom;
+	msg.mode |= (armed) ? mode_flag_armed : 0;
+	msg.flags = 0;
 }
 
 void Simulator::send_controls()