diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1038_plane_dynamicsoaring b/ROMFS/px4fmu_common/init.d-posix/airframes/1038_plane_dynamicsoaring
new file mode 100644
index 000000000000..9f1bcec6f227
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1038_plane_dynamicsoaring
@@ -0,0 +1,58 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set EKF2_MAG_ACCLIM 0
+	param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1
+	param set FW_LND_ANG 8
+	param set FW_THR_LND_MAX 0
+
+	param set FW_L1_PERIOD 12
+
+	param set FW_MAN_P_MAX 30
+
+	param set FW_PR_I 0.4
+	param set FW_PR_P 0.9
+	param set FW_PR_FF 0.2
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
+
+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.3
+
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_THR_CRUISE 0.25
+
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2
+
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 30
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
index 71c997947055..3fdcdb899fb1 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -63,6 +63,7 @@ px4_add_romfs_files(
 	1035_techpod
 	1036_malolo
 	1037_believer
+	1038_plane_dynamicsoaring
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
index a3eef9d3a170..bd23d366260a 160000
--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@@ -1 +1 @@
-Subproject commit a3eef9d3a17078896f40abb0deaabfb0faad8c65
+Subproject commit bd23d366260abd893773456162650cf98a414111
diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake
index db5f06b6fc76..d50e6a236ee3 100644
--- a/platforms/posix/cmake/sitl_target.cmake
+++ b/platforms/posix/cmake/sitl_target.cmake
@@ -140,6 +140,7 @@ set(models
 	plane_cam
 	plane_catapult
 	plane_lidar
+	plane_dynamicsoaring
 	r1_rover
 	rover
 	shell