diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1050_standard_vtol_ctrlalloc b/ROMFS/px4fmu_common/init.d-posix/airframes/1050_standard_vtol_ctrlalloc
new file mode 100644
index 0000000000..cbe5fb402e
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1050_standard_vtol_ctrlalloc
@@ -0,0 +1,76 @@
+#!/bin/sh
+#
+# @name Standard VTOL
+#
+# @type Standard VTOL
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.ctrlalloc
+
+param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_P 0.9
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2
+
+param set-default MC_ROLLRATE_P 0.3
+param set-default MC_YAW_P 1.6
+
+param set-default MIS_TAKEOFF_ALT 10
+
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_D_ACC 0.1
+
+param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80
+
+param set-default VT_FWD_THRUST_EN 4
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_B_TRANS_DUR 8
+param set-default VT_TYPE 2
+
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ACT0_MIN 0.0
+param set-default CA_ACT1_MIN 0.0
+param set-default CA_ACT2_MIN 0.0
+param set-default CA_ACT3_MIN 0.0
+param set-default CA_ACT0_MAX 1.0
+param set-default CA_ACT1_MAX 1.0
+param set-default CA_ACT2_MAX 1.0
+param set-default CA_ACT3_MAX 1.0
+
+param set-default CA_ACT4_MIN 0.0
+param set-default CA_ACT4_MAX 1.0
+
+param set-default CA_ACT5_MIN -1.0
+param set-default CA_ACT5_MAX 1.0
+param set-default CA_ACT6_MIN -1.0
+param set-default CA_ACT6_MAX 1.0
+param set-default CA_ACT7_MIN -1.0
+param set-default CA_ACT7_MAX 1.0
+
+set MAV_TYPE 22
+
+#set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
+#set MIXER custom
+set MIXER direct
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
index df3cbe3779..57a241e88d 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -67,6 +67,7 @@ px4_add_romfs_files(
 	1042_tiltrotor
 	1043_standard_vtol_drop
 	1043_standard_vtol_drop.post
+	1050_standard_vtol_ctrlalloc
 	1060_rover
 	1061_r1_rover
 	1062_tf-r1
diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
index d8366bf238..d8c5f58543 160000
--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@@ -1 +1 @@
-Subproject commit d8366bf2389eae6106d1dbfaac72ebfdf23a5d2d
+Subproject commit d8c5f58543eb73763e829ddcca8f34149ed56285
diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake
index e13d947462..d92db82bab 100644
--- a/platforms/posix/cmake/sitl_target.cmake
+++ b/platforms/posix/cmake/sitl_target.cmake
@@ -144,6 +144,7 @@ set(models
 	solo
 	standard_vtol
 	standard_vtol_drop
+	standard_vtol_ctrlalloc
 	tailsitter
 	techpod
 	tiltrotor