diff --git a/.github/workflows/rotors_tests.yml b/.github/workflows/rotors_tests.yml
new file mode 100644
index 0000000000..a62525a90f
--- /dev/null
+++ b/.github/workflows/rotors_tests.yml
@@ -0,0 +1,55 @@
+name: RotorS PX4 Build Test
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        container:
+        - 'px4io/px4-dev-simulation-bionic:2020-11-18' # Gazebo 9
+    container:
+      image: ${{ matrix.container }}
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: rotors_tests-RelWithDebInfo-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: rotors_tests-RelWithDebInfo-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+    - name: Install glog
+      run: apt update && apt install -y libgoogle-glog-dev libyaml-cpp-dev
+    - name: Build PX4 RotorS
+      env:
+        PX4_CMAKE_BUILD_TYPE: RelWithDebInfo
+        DONT_RUN: 1
+      run: make px4_sitl rotors
+    - name: ccache post-run px4/firmware
+      run: ccache -s
diff --git a/.gitmodules b/.gitmodules
index 482fd774ce..b50ff76b1c 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -63,3 +63,6 @@
 [submodule "src/drivers/uavcannode_gps_demo/libcanard"]
 	path = src/drivers/uavcannode_gps_demo/libcanard
 	url = https://github.com/UAVCAN/libcanard
+[submodule "Tools/rotors_simulator"]
+	path = Tools/rotors_simulator
+	url = https://github.com/ethz-asl/rotors_simulator.git
diff --git a/Tools/rotors_simulator b/Tools/rotors_simulator
new file mode 160000
index 0000000000..06fb8b271e
--- /dev/null
+++ b/Tools/rotors_simulator
@@ -0,0 +1 @@
+Subproject commit 06fb8b271ea0f17c7f3c344a2c074a408524cd8f
diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake
index 0257cbd344..ad1a680cf1 100644
--- a/platforms/posix/cmake/sitl_target.cmake
+++ b/platforms/posix/cmake/sitl_target.cmake
@@ -85,11 +85,29 @@ ExternalProject_Add(jsbsim_bridge
 	BUILD_ALWAYS 1
 )
 
+px4_add_git_submodule(TARGET git_rotors PATH "${PX4_SOURCE_DIR}/Tools/rotors_simulator")
+ExternalProject_Add(rotors_simulator
+	SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/rotors_simulator/rotors_gazebo_plugins
+	CMAKE_ARGS
+		-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+		-DNO_ROS=true
+	BINARY_DIR ${PX4_BINARY_DIR}/build_rotors
+	INSTALL_COMMAND ""
+	DEPENDS
+		git_rotors
+	USES_TERMINAL_CONFIGURE true
+	USES_TERMINAL_BUILD true
+	EXCLUDE_FROM_ALL true
+	BUILD_ALWAYS 1
+	BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j1
+)
+
 # create targets for each viewer/model/debugger combination
 set(viewers
 	none
 	jmavsim
 	gazebo
+	rotors
 )
 
 set(debuggers
@@ -178,6 +196,8 @@ foreach(viewer ${viewers})
 						add_dependencies(${_targ_name} px4 sitl_gazebo)
 					elseif(viewer STREQUAL "jmavsim")
 						add_dependencies(${_targ_name} px4 git_jmavsim)
+					elseif(viewer STREQUAL "rotors")
+						add_dependencies(${_targ_name} px4 rotors_simulator)
 					endif()
 				else()
 					if(viewer STREQUAL "gazebo")