diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4010_gz_x500_mono_cam b/ROMFS/px4fmu_common/init.d-posix/airframes/4010_gz_x500_mono_cam
new file mode 100644
index 0000000000..835211904f
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4010_gz_x500_mono_cam
@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# @name Gazebo x500 mono cam
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_mono_cam}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
index 74925d102c..247545c187 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -80,6 +80,7 @@ px4_add_romfs_files(
 	4005_gz_x500_vision
 	4006_gz_px4vision
 	4008_gz_advanced_plane
+	4010_gz_x500_mono_cam
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post