diff --git a/ROMFS/px4fmu_common/mixers/quad_x_vtol_sim.main.mix b/ROMFS/px4fmu_common/mixers/quad_x_vtol_sim.main.mix
new file mode 100644
index 000000000000..bfe0b5f65443
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/quad_x_vtol_sim.main.mix
@@ -0,0 +1,21 @@
+Mixer for the gazebo tailsitter model
+=====================================
+
+R: 4x 10000 10000 10000 0
+
+Z:
+
+# left elevon
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 0  10000  10000      0 -10000  10000
+
+# right elevon
+M: 1
+O:       10000   10000    0 -10000  10000
+S: 1 0   -10000   -10000    0 -10000  10000
+
+# mixer for the virtual elevator
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 1 1   -10000   -10000    0 -10000  10000
diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
index 6d49cbf8887b..43a5ec76860f 160000
--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@@ -1 +1 @@
-Subproject commit 6d49cbf8887bab32bb2d0b017db604d9df63a490
+Subproject commit 43a5ec76860f57502a237a697174e3cbfd994e4c
diff --git a/posix-configs/SITL/init/ekf2/tailsitter b/posix-configs/SITL/init/ekf2/tailsitter
index b508a6dc7237..42554edc2133 100644
--- a/posix-configs/SITL/init/ekf2/tailsitter
+++ b/posix-configs/SITL/init/ekf2/tailsitter
@@ -60,7 +60,7 @@ mc_pos_control start
 mc_att_control start
 fw_pos_control_l1 start
 fw_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
+mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x_vtol_sim.main.mix
 mavlink start -x -u 14556 -r 2000000
 mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556