diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_x500_stereo_cam b/ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_x500_stereo_cam
new file mode 100644
index 000000000000..ca239b945045
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_x500_stereo_cam
@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# @name Gazebo x500 stereo cam
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_stereo_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 9277ad303947..f2cd52501514 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -83,6 +83,7 @@ px4_add_romfs_files(
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
 	4011_gz_lawnmower
+	4012_gz_x500_stereo_cam
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
diff --git a/Tools/simulation/gz b/Tools/simulation/gz
index d754381a1cec..f7d427b5afb8 160000
--- a/Tools/simulation/gz
+++ b/Tools/simulation/gz
@@ -1 +1 @@
-Subproject commit d754381a1cecdd7f17050acd72bf5bf1327bced6
+Subproject commit f7d427b5afb8c41fde006a7354a40087e5c49eef