diff --git a/Makefile b/Makefile
index 4246944ae2..096a058653 100644
--- a/Makefile
+++ b/Makefile
@@ -184,7 +184,7 @@ clean:
 # targets handled by cmake
 cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
 	run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim \
-	jmavsim_gdb jmavsim_lldb
+	jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_vtol gazebo_iris gazebo_vtol
 $(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
 
 .PHONY: clean
diff --git a/Tools/sitl_run.sh b/Tools/sitl_run.sh
index e437f7651f..7f7808c9e6 100755
--- a/Tools/sitl_run.sh
+++ b/Tools/sitl_run.sh
@@ -3,18 +3,27 @@
 rc_script=$1
 debugger=$2
 program=$3
-build_path=$4
+model=$4
+build_path=$5
 curr_dir=`pwd`
 
 echo SITL ARGS
 echo rc_script: $rc_script
 echo debugger: $debugger
 echo program: $program
+echo model: $model
 echo build_path: $build_path
 
-if [ "$#" != 4 ]
+if [ "$model" == "" ] || [ "$model" == "none" ]
 then
-	echo usage: sitl_run.sh rc_script debugger program build_path
+	echo "empty model, setting iris as default"
+	model="iris"
+fi
+
+if [ "$#" != 5 ]
+then
+	echo usage: sitl_run.sh rc_script debugger program model build_path
+	echo ""
 	exit 1
 fi
 
@@ -54,9 +63,9 @@ then
 		cd Tools/sitl_gazebo/Build
 		cmake ..
 		make -j4
-		gzserver ../worlds/iris.world &
+		gzserver ../worlds/${model}.world &
 		SIM_PID=`echo $!`
-		gzclient&
+		gzclient &
 		GUI_PID=`echo $!`
 	else
 		echo "You need to have gazebo simulator installed!"
@@ -78,10 +87,10 @@ else
 	./mainapp ../../../../${rc_script}_${program}
 fi
 
-if [ "$3" == "jmavsim" ]
+if [ "$program" == "jmavsim" ]
 then
 	kill -9 $SIM_PID
-elif [ "$3" == "gazebo" ]
+elif [ "$program" == "gazebo" ]
 then
 	kill -9 $SIM_PID
 	kill -9 $GUI_PID
diff --git a/src/firmware/posix/CMakeLists.txt b/src/firmware/posix/CMakeLists.txt
index 3417f49d18..64f4775c33 100644
--- a/src/firmware/posix/CMakeLists.txt
+++ b/src/firmware/posix/CMakeLists.txt
@@ -26,27 +26,37 @@ endif()
 
 add_custom_target(run_config
 	COMMAND Tools/sitl_run.sh "${config_sitl_rcS}" "${config_sitl_debugger}"
-	"${config_sitl_viewer}" "${CMAKE_BINARY_DIR}"
+	"${config_sitl_viewer}" "${config_sitl_model}" "${CMAKE_BINARY_DIR}"
 	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 	USES_TERMINAL
 	)
 add_dependencies(run_config mainapp)
 
-foreach(viewer jmavsim gazebo)
+foreach(viewer none jmavsim gazebo)
 	foreach(debugger none gdb lldb)
-		if (debugger STREQUAL "none")
-			set(_targ_name "${viewer}")
-		else()
-			set(_targ_name "${viewer}_${debugger}")
-		endif()
-		add_custom_target(${_targ_name}
-			COMMAND Tools/sitl_run.sh "${config_sitl_rcS}"
-			"${debugger}"
-			"${viewer}" "${CMAKE_BINARY_DIR}"
-			WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-			USES_TERMINAL
-			)
-		add_dependencies(${_targ_name} mainapp)
+		foreach(model none iris vtol)
+			if (debugger STREQUAL "none")
+				if (model STREQUAL "none")
+					set(_targ_name "${viewer}")
+				else()
+					set(_targ_name "${viewer}_${model}")
+				endif()
+			else()
+				if (model STREQUAL "none")
+					set(_targ_name "${viewer}___${debugger}")
+				else()
+					set(_targ_name "${viewer}_${model}_${debugger}")
+				endif()
+			endif()
+			add_custom_target(${_targ_name}
+				COMMAND Tools/sitl_run.sh "${config_sitl_rcS}"
+				"${debugger}"
+				"${viewer}" "${model}" "${CMAKE_BINARY_DIR}"
+				WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+				USES_TERMINAL
+				)
+			add_dependencies(${_targ_name} mainapp)
+		endforeach()
 	endforeach()
 endforeach()