diff --git a/ROMFS/px4fmu_common/init.d-posix/10030_px4vision b/ROMFS/px4fmu_common/init.d-posix/10030_px4vision
new file mode 100644
index 0000000000..8f0f4fe9a1
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/10030_px4vision
@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# @name PX4Vision SITL
+# Holybro px4vision. Gazebo Only.
+#
+# @type Quadrotor
+#
+
+sh /etc/init.d/airframes/4016_holybro_px4vision
+
+set MIXER quad_x
diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake
index 407a9e9439..558c1c811b 100644
--- a/platforms/posix/cmake/sitl_target.cmake
+++ b/platforms/posix/cmake/sitl_target.cmake
@@ -61,7 +61,7 @@ ExternalProject_Add(mavsdk_tests
 set(viewers none jmavsim gazebo)
 set(debuggers none ide gdb lldb ddd valgrind callgrind)
 set(models none shell
-	if750a iris iris_opt_flow iris_opt_flow_mockup iris_vision iris_rplidar iris_irlock iris_obs_avoid iris_rtps solo typhoon_h480
+	if750a iris iris_opt_flow iris_opt_flow_mockup iris_vision iris_rplidar iris_irlock iris_obs_avoid iris_rtps px4vision solo typhoon_h480
 	plane plane_cam plane_catapult plane_lidar
 	standard_vtol tailsitter tiltrotor
 	rover boat