diff --git a/Makefile b/Makefile
index 304f90edaf..e93c92a1bd 100644
--- a/Makefile
+++ b/Makefile
@@ -264,6 +264,26 @@ px4fmu_firmware: \
 	check_px4_fmu-v5x_default \
 	sizes
 
+# Create a one-file AppImage for PX4 SITL
+.PHONY: AppImage
+appimage: build/px4_sitl_default/bin/px4 build/px4_sitl_default/romfs_files.tar
+	@$(MAKE) px4_sitl_default  # ensure the SITL binary & romfs tar are up-to-date
+	@$(RM) -rf build/px4.AppDir
+	@mkdir -p \
+		build/px4.AppDir/usr/bin \
+		build/px4.AppDir/usr/share/px4/romfs/etc \
+		build/px4.AppDir/usr/share/px4/romfs/bin \
+		build/px4.AppDir/usr/share/applications \
+		build/px4.AppDir/usr/share/icons/hicolor/scalable/apps
+	@cp build/px4_sitl_default/bin/px4 build/px4.AppDir/usr/bin/
+	@tar xf build/px4_sitl_default/romfs_files.tar -C build/px4.AppDir/usr/share/px4/romfs/etc
+	@cp build/px4_sitl_default/bin/px4-* build/px4.AppDir/usr/share/px4/romfs/bin/
+	@cp Tools/appimage/px4.desktop build/px4.AppDir/
+	@cp Tools/appimage/px4.svg build/px4.AppDir/
+	@cp Tools/appimage/AppRun build/px4.AppDir/
+	@chmod +x build/px4.AppDir/AppRun
+	@cd build && appimagetool px4.AppDir
+
 misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
 	check_mro_x21_default \
diff --git a/Tools/appimage/AppRun b/Tools/appimage/AppRun
new file mode 100755
index 0000000000..6c827db9bd
--- /dev/null
+++ b/Tools/appimage/AppRun
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+set -e
+
+export LD_LIBRARY_PATH="$APPDIR/usr/lib:$LD_LIBRARY_PATH"
+WORKDIR=$(mktemp -d)
+cp -a "$APPDIR/usr/share/px4/romfs/." "$WORKDIR"
+export PATH="$WORKDIR/bin:$WORKDIR:$PATH"
+exec "$APPDIR/usr/bin/px4" -w "$WORKDIR" "$@"
diff --git a/Tools/appimage/px4.desktop b/Tools/appimage/px4.desktop
new file mode 100644
index 0000000000..a5ce2f43c7
--- /dev/null
+++ b/Tools/appimage/px4.desktop
@@ -0,0 +1,6 @@
+[Desktop Entry]
+Type=Application
+Name=PX4 Autopilot SITL
+Exec=px4 %F
+Icon=px4
+Categories=Development;
diff --git a/Tools/appimage/px4.svg b/Tools/appimage/px4.svg
new file mode 100644
index 0000000000..874817adac
--- /dev/null
+++ b/Tools/appimage/px4.svg
@@ -0,0 +1,22 @@
+<svg width="256" height="256" viewBox="0 0 256 256" fill="none" xmlns="http://www.w3.org/2000/svg">
+<rect width="256" height="256" fill="white"/>
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