diff --git a/ROMFS/sitl/mixers/tiltrotor_sitl.main.mix b/ROMFS/sitl/mixers/tiltrotor_sitl.main.mix
new file mode 100644
index 0000000000..94cb0f4ba6
--- /dev/null
+++ b/ROMFS/sitl/mixers/tiltrotor_sitl.main.mix
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+Mixer for quad tiltrotor (x motor configuration)
+================================================
+
+This file defines a single mixer for a tiltrotor (SITL gazebo) with motors in X configuration. The plane has two ailerons and one elevator.
+
+R: 4x 10000 10000 10000 0
+
+# tilt servo motor 1
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000
+
+# tilt servo motor 2
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000
+
+# tilt servo motor 3
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000
+
+# tilt servo motor 4
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000
+
+# mixer for the left aileron
+M: 1
+O:      10000  10000   0 -10000  10000
+S: 1 0  10000  10000    0 -10000  10000
+
+# mixer for the right aileron
+M: 1
+O:      10000  10000   0 -10000  10000
+S: 1 0  -10000  -10000    0 -10000  10000
+
+# mixer for the elevator
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 1 1   10000   10000    0 -10000  10000