diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/5001_xplane_cessna172 b/ROMFS/px4fmu_common/init.d-posix/airframes/5001_xplane_cessna172
new file mode 100644
index 000000000000..b1c21e5652c6
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/5001_xplane_cessna172
@@ -0,0 +1,144 @@
+#!/bin/sh
+#
+# PX4 SITL Configuration Script for Cessna 172 Skyhawk in X-Plane
+#
+# This script configures PX4 SITL for a Cessna 172 Skyhawk, a standard fixed-wing plane.
+# It's tailored for integration with X-Plane, a custom simulator, facilitating real-world scale simulation.
+#
+# Usage: Run with 'make px4_sitl xplane_cessna172'.
+#
+# @name: Cessna 172 Skyhawk
+# Compatible Simulator: X-Plane
+# @type Standard Plane
+# @maintainer alireza787b <p30planets@gmail.com>
+# Date: Nov 2023
+# @url https://github.com/alireza787b/px4xplane/
+#
+# ---- Start of Configuration ----
+
+# Load default configuration for fixed-wing aircraft
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_ABL_TAU 0.3
+param set-default EKF2_ABL_LIM 2
+param set-default EKF2_BARO_CTRL 1
+
+
+
+# ---- Airframe Configuration Parameters ----
+# These parameters define the physical configuration of the Cessna 172 Skyhawk airframe
+param set-default CA_AIRFRAME 1
+param set-default CA_ROTOR_COUNT 1
+
+# ---- Control Surface Configuration ----
+# Configuration of control surfaces for flight control and maneuvering
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS3_TRQ_Y 1.0
+
+# ---- Simulator Sensor Configuration ----
+# Enabling simulated sensors for integration with X-Plane
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
+
+# ---- PWM Output Configuration ----
+# Assignments for PWM main outputs
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 202
+param set-default PWM_MAIN_FUNC3 203
+param set-default PWM_MAIN_FUNC4 101
+param set-default PWM_MAIN_FUNC5 204
+param set-default PWM_MAIN_FUNC6 204
+
+# ---- Fixed-wing Specific Parameters ----
+# Parameters specific to fixed-wing flight dynamics
+param set-default FW_AIRSPD_MAX 75.0000
+param set-default FW_AIRSPD_MIN 30.0000
+param set-default FW_AIRSPD_STALL 25.0000
+param set-default FW_AIRSPD_TRIM 45.0000
+param set-default ASPD_FALLBACK_GW 1
+param set-default FW_RR_FF 4.8000
+param set-default FW_R_LIM 30.0000
+param set-default LNDFW_VEL_XY_MAX 15.0000
+param set-default FW_LND_FLALT  5.0000
+param set-default RTL_LOITER_RAD 1000.0000
+param set-default RTL_DESCEND_ALT 200.0000
+param set-default FW_LND_FL_PMAX 35.0000
+
+# ---- PWM Reversals ----
+# Configuration for reversing the PWM signal
+param set-default PWM_MAIN_REV 7
+
+# ---- Logging Configuration ----
+# Settings related to flight data logging
+param set-default SDLOG_MODE 0
+
+# ---- Circuit Breakers ----
+# Disabling various system checks (use with caution)
+param set-default CBRK_USB_CHK 197848      # Disable USB check
+param set-default CBRK_SUPPLY_CHK 894281   # Disable real battery check
+param set-default CBRK_IO_SAFETY 22027     # Disable safety switch check
+param set-default CBRK_AIRSPD_CHK 1612128  # Disable airspeed sensor check
+
+# ---- End of Configuration ----
+#new
+
+param set-default FW_TKO_AIRSPD 32.0000
+param set-default FW_TKO_PITCH_MIN 20.0000
+param set-default FW_T_CLMB_MAX 6.0000
+param set-default FW_WING_HEIGHT 2.5000
+param set-default FW_WING_SPAN 11.0000
+param set-default MIS_DIST_1WP 5000.0000
+param set-default MIS_TAKEOFF_ALT 100.0000
+param set-default MIS_TKO_LAND_REQ 0
+param set-default NAV_LOITER_RAD 1000.0000
+param set-default RTL_MIN_DIST 50.0000
+param set-default WEIGHT_BASE 1000.0000
+param set-default WEIGHT_GROSS 1000.0000
+param set-default CA_ROTOR0_PX 1.2000
+
+
+param set-default CA_R0_SLEW 2.0000
+param set-default EKF2_ABL_ACCLIM 35.0000
+param set-default EKF2_MAG_DELAY 1.0000
+param set-default FW_LND_ABORT 0
+param set-default FW_PN_R_SLEW_MAX 50.0000
+param set-default FW_PR_FF 3.4000
+param set-default FW_PR_I 0.0450
+param set-default FW_PR_P 0.3650
+param set-default FW_P_LIM_MAX 20.0000
+param set-default FW_P_LIM_MIN -15.0000
+param set-default MPC_JERK_AUTO 1.0000
+param set-default MPC_JERK_MAX 3.0000
+param set-default FW_P_TC 0.4500
+param set-default FW_RR_P 0.4700
+param set-default FW_R_RMAX 10.0000
+param set-default FW_R_TC 0.6000
+param set-default FW_T_ALT_TC 10.0000
+param set-default FW_T_I_GAIN_THR 0.0200
+param set-default FW_T_RLL2THR 5.0000
+param set-default FW_T_STE_R_TC 2.5000
+param set-default FW_T_THR_DAMP 0.0000
+param set-default LNDFW_AIRSPD_MAX 30.0000
+param set-default MIS_YAW_ERR 30.0000
+param set-default MIS_YAW_TMT 5.0000
+
+param set-default NAV_ACC_RAD 300.0000
+param set-default NAV_FW_ALT_RAD 50.0000
+param set-default MPC_MAN_Y_MAX 20.0000
+param set-default NAV_MIN_LTR_ALT -1.0000
+
+param set-default EKF2_MAG_TYPE 0
+param set-default FW_LND_AIRSPD 36.0000
+param set-default FW_PR_D 0.3550
+param set-default FW_RR_D 0.0850
+param set-default FW_RR_I 0.1300
+param set-default SYS_HAS_MAG 1
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/5002_xplane_tb2 b/ROMFS/px4fmu_common/init.d-posix/airframes/5002_xplane_tb2
new file mode 100644
index 000000000000..b7b2610502c4
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/5002_xplane_tb2
@@ -0,0 +1,107 @@
+#!/bin/sh
+#
+# @name TB2 Fixed Wing Aircraft
+# @type Plane A-Tail
+# @class Plane
+#
+# @output Motor1 throttle
+# @output Servo1 aileron right
+# @output Servo2 aileron left
+# @output Servo3 v-tail right
+# @output Servo4 v-tail left
+# @output Servo5 wheel
+# @output Servo6 flaps right
+# @output Servo7 flaps left
+#
+# @maintainer Alireza Ghaderi <p30planets@gmail.com>
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+# --- Aircraft Configuration ---
+param set-default CA_AIRFRAME 1
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_SV_CS_COUNT 7
+
+
+param set-default EKF2_ABL_TAU 0.3
+param set-default EKF2_ABL_LIM 2
+param set-default EKF2_BARO_CTRL 1
+
+
+# --- Control Surface Configuration ---
+param set-default CA_SV_CS0_TYPE 1     # Left aileron
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2     # Right aileron
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS2_TYPE 13    # Left V-tail
+param set-default CA_SV_CS2_TRQ_P 0.5
+param set-default CA_SV_CS2_TRQ_Y -0.5
+param set-default CA_SV_CS3_TYPE 14    # Right V-tail
+param set-default CA_SV_CS3_TRQ_P 0.5
+param set-default CA_SV_CS3_TRQ_Y 0.5
+param set-default CA_SV_CS4_TYPE 16    # Wheel
+param set-default CA_SV_CS4_TRQ_Y 0
+param set-default CA_SV_CS5_TYPE 9     # Left flap
+param set-default CA_SV_CS6_TYPE 10    # Right flap
+
+# --- PWM Configuration and Reversals ---
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 202
+param set-default PWM_MAIN_FUNC3 203
+param set-default PWM_MAIN_FUNC4 204
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 205
+param set-default PWM_MAIN_FUNC7 206
+param set-default PWM_MAIN_FUNC8 207
+param set-default PWM_MAIN_REV 15      # PWM signal reversal configuration
+
+# --- Flight Performance Parameters ---
+param set-default FW_MAN_P_MAX 55
+param set-default FW_MAN_R_MAX 55
+param set-default FW_R_LIM 30
+param set-default FW_WR_FF 0.2
+param set-default FW_WR_I 0.2
+param set-default FW_WR_IMAX 0.8
+param set-default FW_WR_P 1
+param set-default FW_W_RMAX 0
+
+# --- Sensor Simulation ---
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
+
+# --- Airspeed and Flight Mode Settings ---
+param set-default FW_AIRSPD_MAX 80
+param set-default FW_AIRSPD_MIN 30
+param set-default FW_AIRSPD_STALL 25
+param set-default FW_AIRSPD_TRIM 45
+param set-default ASPD_FALLBACK_GW 1
+
+# --- Landing and RTL Parameters ---
+param set-default FW_LND_FLALT 5
+param set-default RTL_LOITER_RAD 1000
+param set-default FW_LND_FL_PMAX 35
+param set-default FW_TKO_AIRSPD 32
+param set-default FW_TKO_PITCH_MIN 20
+param set-default FW_T_CLMB_MAX 6
+param set-default FW_WING_HEIGHT 2.5
+param set-default FW_WING_SPAN 11
+param set-default MIS_DIST_1WP 5000
+param set-default MIS_TAKEOFF_ALT 100
+param set-default MIS_TKO_LAND_REQ 0
+param set-default RTL_MIN_DIST 50
+
+# --- Safety and Breakers ---
+param set-default CBRK_USB_CHK 197848       # Disable USB check
+param set-default CBRK_SUPPLY_CHK 894281    # Disable real battery check
+param set-default CBRK_IO_SAFETY 22027      # Disable safety switch check
+
+# --- Miscellaneous Settings ---
+param set-default SDLOG_MODE 0
+param set-default SYS_HAS_MAG 1
+param set-default NAV_LOITER_RAD 1000
+param set-default EKF2_MAG_TYPE 0
+
+# --- End of Configuration ---
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/5010_xplane_ehang184 b/ROMFS/px4fmu_common/init.d-posix/airframes/5010_xplane_ehang184
new file mode 100644
index 000000000000..e233628b159e
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/5010_xplane_ehang184
@@ -0,0 +1,195 @@
+#!/bin/sh
+#
+# PX4 SITL Configuration Script for Ehang Airtaxi (QuadCopter) in X-Plane
+#
+# This script configures PX4 SITL for the Ehang 184 Airtaxi, modelled as a quadcopter.
+# It's specifically designed for X-Plane simulation, representing a more sophisticated Multirotor simulation.
+#
+# Usage: Run with 'make px4_sitl xplane_ehang184'.
+#
+# Airframe: Ehang Airtaxi
+# Compatible Simulator: X-Plane
+# @name ehang4 (QuadCopter) X-Plane SITL
+# @type Quadrotor Wide
+# @maintainer alireza787b <p30planets@gmail.com>
+# Date: Nov 2023
+# @url https://github.com/alireza787b/px4xplane/
+
+# ---- Start of Configuration ----
+
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR3_KM -0.05
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default CA_FAILURE_MODE 0
+param set-default CA_METHOD 2
+param set-default CA_ROTOR0_AZ -1
+param set-default CA_ROTOR0_CT 6.5
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR0_PX 1.4
+param set-default CA_ROTOR0_PY -1.4
+param set-default CA_ROTOR1_AX 0
+param set-default CA_ROTOR1_AY 0
+param set-default CA_ROTOR1_AZ -1
+param set-default CA_ROTOR1_CT 6.5
+param set-default CA_ROTOR1_PX 1.4
+param set-default CA_ROTOR1_PY 1.4
+param set-default CA_ROTOR1_PZ 0
+param set-default CA_ROTOR2_AX 0
+param set-default CA_ROTOR2_AY 0
+param set-default CA_ROTOR2_AZ -1
+param set-default CA_ROTOR2_CT 6.5
+param set-default CA_ROTOR2_KM 0.05
+param set-default CA_ROTOR2_PX -1.4
+param set-default CA_ROTOR2_PY -1.4
+param set-default CA_ROTOR2_PZ 0
+param set-default CA_ROTOR3_AX 0
+param set-default CA_ROTOR3_AY 0
+param set-default CA_ROTOR3_AZ -1
+param set-default CA_ROTOR3_CT 6.5
+param set-default CA_ROTOR3_PX -1.4
+param set-default CA_ROTOR3_PY 1.4
+param set-default CA_ROTOR3_PZ 0
+
+param set-default EKF2_ABL_TAU 0.3
+param set-default EKF2_ABL_LIM 2
+param set-default EKF2_BARO_CTRL 1
+param set-default CP_DELAY 0.4
+param set-default CP_DIST -1
+param set-default CP_GO_NO_DATA 0
+param set-default CP_GUIDE_ANG 30
+param set-default EKF2_TAS_GATE 3
+param set-default EKF2_WIND_NSD 0.01
+param set-default FLW_TGT_ALT_M 0
+param set-default FLW_TGT_DST 8
+param set-default FLW_TGT_FA 180
+param set-default FLW_TGT_HT 8
+param set-default FLW_TGT_MAX_VEL 5
+param set-default FLW_TGT_RS 0.1
+param set-default FW_PSP_OFF 0
+param set-default GPS_UBX_DYNMODEL 6
+param set-default HTE_ACC_GATE 3
+param set-default HTE_HT_ERR_INIT 0.1
+param set-default HTE_HT_NOISE 0.0036
+param set-default HTE_THR_RANGE 0.2
+param set-default HTE_VXY_THR 10
+param set-default HTE_VZ_THR 2
+param set-default IMU_GYRO_RATEMAX 800
+param set-default LNDMC_ALT_GND 2
+param set-default LNDMC_ROT_MAX 20
+param set-default LNDMC_TRIG_TIME 1
+param set-default LNDMC_XY_VEL_MAX 1.5
+param set-default LNDMC_Z_VEL_MAX 0.25
+param set-default MC_ACRO_EXPO 0
+param set-default MC_ACRO_EXPO_Y 0
+param set-default MC_ACRO_P_MAX 100
+param set-default MC_ACRO_R_MAX 100
+param set-default MC_ACRO_SUPEXPO 0
+param set-default MC_ACRO_SUPEXPOY 0
+param set-default MC_ACRO_Y_MAX 100
+param set-default MC_AT_APPLY 1
+param set-default MC_AT_RISE_TIME 0.14
+param set-default MC_AT_START 0
+param set-default MC_AT_SYSID_AMP 0.7
+param set-default MC_BAT_SCALE_EN 0
+param set-default MC_MAN_TILT_TAU 0
+param set-default MC_ORBIT_RAD_MAX 1000
+param set-default MC_PITCHRATE_D 0.01
+param set-default MC_PITCHRATE_FF 0
+param set-default MC_PITCHRATE_I 0.1
+param set-default MC_PITCHRATE_K 3
+param set-default MC_PITCHRATE_MAX 220
+param set-default MC_PITCHRATE_P 0.15
+param set-default MC_PR_INT_LIM 0.3
+param set-default MC_ROLLRATE_D 0.01
+param set-default MC_ROLLRATE_FF 0
+param set-default MC_ROLLRATE_I 0.1
+param set-default MC_ROLLRATE_K 2.25
+param set-default MC_ROLLRATE_MAX 220
+param set-default MC_ROLLRATE_P 0.15
+param set-default MC_RR_INT_LIM 0.3
+param set-default MC_YAWRATE_I 0
+param set-default MC_YAWRATE_K 0.6
+param set-default MC_YAW_WEIGHT 0.4
+param set-default MPC_ALT_MODE 0
+param set-default MPC_HOLD_MAX_XY 0.8
+param set-default MPC_HOLD_MAX_Z 0.6
+param set-default MPC_LAND_ALT1 10
+param set-default MPC_LAND_ALT2 5
+param set-default MPC_LAND_ALT3 1
+param set-default MPC_LAND_CRWL 0.3
+param set-default MPC_LAND_RADIUS 1000
+param set-default MPC_MANTHR_MIN 0.08
+param set-default MPC_MAN_TILT_MAX 35
+param set-default MPC_MAN_Y_TAU 0.08
+param set-default MPC_POS_MODE 4
+param set-default MPC_THR_CURVE 0
+param set-default MPC_THR_HOVER 0.5
+param set-default MPC_THR_MAX 1
+param set-default MPC_THR_MIN 0.12
+param set-default MPC_THR_XY_MARG 0.3
+param set-default MPC_TILTMAX_AIR 45
+param set-default MPC_TILTMAX_LND 12
+param set-default MPC_TKO_RAMP_T 3
+param set-default MPC_TKO_SPEED 1.5
+param set-default MPC_USE_HTE 1
+param set-default MPC_VELD_LP 5
+param set-default MPC_VEL_MANUAL 10
+param set-default MPC_VEL_MAN_BACK -1
+param set-default MPC_VEL_MAN_SIDE -1
+param set-default MPC_XY_ERR_MAX 2
+param set-default MPC_XY_MAN_EXPO 0.6
+param set-default MPC_XY_P 0.05
+param set-default MPC_XY_TRAJ_P 0.5
+param set-default MPC_XY_VEL_ALL -10
+param set-default MPC_XY_VEL_D_ACC 1.5
+param set-default MPC_XY_VEL_I_ACC 0.2
+param set-default MPC_XY_VEL_MAX 12
+param set-default MPC_XY_VEL_P_ACC 1.2
+param set-default MPC_YAW_EXPO 0.6
+param set-default MPC_YAW_MODE 0
+param set-default MPC_Z_MAN_EXPO 0.6
+param set-default MPC_Z_P 0.25
+param set-default MPC_Z_VEL_ALL -3
+param set-default MPC_Z_VEL_D_ACC 0.2
+param set-default MPC_Z_VEL_I_ACC 2
+param set-default MPC_Z_VEL_MAX_DN 1.5
+param set-default MPC_Z_VEL_MAX_UP 3
+param set-default MPC_Z_VEL_P_ACC 3
+param set-default NAV_ACC_RAD 20
+param set-default RTL_DESCEND_ALT 30
+param set-default RTL_RETURN_ALT 30
+param set-default SYS_VEHICLE_RESP -0.4
+param set-default WV_EN 0
+param set-default WV_GAIN 1
+param set-default WV_ROLL_MIN 1
+param set-default WV_YRATE_MAX 90
+param set-default MC_PITCH_P 0.3
+param set-default MC_ROLL_P 0.3
+param set-default MC_YAWRATE_D 0
+param set-default MC_YAWRATE_FF 0.2
+param set-default MC_YAWRATE_MAX 100
+param set-default MC_YAWRATE_P 2
+param set-default MC_YAW_P 0.6
+param set-default MC_YR_INT_LIM 0.3
+param set-default MPC_HOLD_DZ 0.3
+param set-default MPC_JERK_AUTO 1
+param set-default MPC_JERK_MAX 3
+param set-default MPC_LAND_RC_HELP 1
+param set-default MPC_MAN_Y_MAX 20
+param set-default MPC_XY_CRUISE 10
+param set-default MPC_YAWRAUTO_ACC 20
+param set-default MPC_YAWRAUTO_MAX 30
+param set-default MIS_YAW_ERR 20.0000
+param set-default MIS_YAW_TMT 5.0000
+
+
+param set-default NAV_MC_ALT_RAD 2.0000
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/5020_xplane_alia250 b/ROMFS/px4fmu_common/init.d-posix/airframes/5020_xplane_alia250
new file mode 100644
index 000000000000..7b70b6eafbd7
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/5020_xplane_alia250
@@ -0,0 +1,288 @@
+#!/bin/sh
+#
+# PX4 SITL Configuration Script for Alia-250 eVTOL in X-Plane
+#
+# This script configures PX4 SITL for the Alia-250, modeled as an eVTOL aircraft.
+# It's tailored for X-Plane simulation, aiming to replicate the unique flight characteristics
+# of the Alia-250, with its distributed direct-drive electric propulsion system.
+#
+# Usage: Run with 'make px4_sitl xplane_alia250'.
+#
+# Airframe: Alia-250
+# Compatible Simulator: X-Plane
+# @name Alia-250 eVTOL X-Plane SITL
+# @type Quadrotor VTOL
+# @maintainer alireza787b <p30planets@gmail.com>
+# Date: dec 2023
+# @url https://github.com/alireza787b/px4xplane/
+#
+# ---- Start of Configuration ----
+
+
+
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default CA_AIRFRAME 2
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR1_KM 0.05
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default CA_FAILURE_MODE 0
+param set-default CA_METHOD 2
+param set-default CA_ROTOR0_AZ -1
+param set-default CA_ROTOR0_CT 6.5
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR1_AX 0
+param set-default CA_ROTOR1_AY 0
+param set-default CA_ROTOR1_AZ -1
+param set-default CA_ROTOR1_CT 6.5
+param set-default CA_ROTOR1_PZ 0
+param set-default CA_ROTOR2_AX 0
+param set-default CA_ROTOR2_AY 0
+param set-default CA_ROTOR2_AZ -1
+param set-default CA_ROTOR2_CT 6.5
+param set-default CA_ROTOR2_PZ 0
+param set-default CA_ROTOR3_AX 0
+param set-default CA_ROTOR3_AY 0
+param set-default CA_ROTOR3_AZ -1
+param set-default CA_ROTOR3_CT 6.5
+param set-default CA_ROTOR3_PZ 0
+
+param set-default CP_DELAY 0.4
+param set-default CP_DIST -1
+param set-default CP_GO_NO_DATA 0
+param set-default CP_GUIDE_ANG 30
+param set-default EKF2_TAS_GATE 3
+param set-default EKF2_WIND_NSD 0.01
+param set-default FLW_TGT_ALT_M 0
+param set-default FLW_TGT_DST 8
+param set-default FLW_TGT_FA 180
+param set-default FLW_TGT_HT 8
+param set-default FLW_TGT_MAX_VEL 5
+param set-default FLW_TGT_RS 0.1
+param set-default FW_PSP_OFF 0
+param set-default GPS_UBX_DYNMODEL 6
+param set-default HTE_ACC_GATE 3
+param set-default HTE_HT_ERR_INIT 0.1
+param set-default HTE_HT_NOISE 0.0036
+param set-default HTE_THR_RANGE 0.2
+param set-default HTE_VXY_THR 10
+param set-default HTE_VZ_THR 2
+param set-default IMU_GYRO_RATEMAX 800
+param set-default LNDMC_ALT_GND 2
+param set-default LNDMC_ROT_MAX 20
+param set-default LNDMC_TRIG_TIME 1
+param set-default LNDMC_XY_VEL_MAX 1.5
+param set-default LNDMC_Z_VEL_MAX 0.25
+param set-default MC_ACRO_EXPO 0
+param set-default MC_ACRO_EXPO_Y 0
+param set-default MC_ACRO_P_MAX 100
+param set-default MC_ACRO_R_MAX 100
+param set-default MC_ACRO_SUPEXPO 0
+param set-default MC_ACRO_SUPEXPOY 0
+param set-default MC_ACRO_Y_MAX 100
+param set-default MC_AT_APPLY 1
+param set-default MC_AT_RISE_TIME 0.14
+param set-default MC_AT_START 0
+param set-default MC_AT_SYSID_AMP 0.7
+param set-default MC_BAT_SCALE_EN 0
+param set-default MC_MAN_TILT_TAU 0
+param set-default MC_ORBIT_RAD_MAX 1000
+param set-default MC_PITCHRATE_D 0.01
+param set-default MC_PITCHRATE_FF 0
+param set-default MC_PITCHRATE_I 0
+param set-default MC_PITCHRATE_K 4
+param set-default MC_PITCHRATE_MAX 220
+param set-default MC_PITCHRATE_P 0.4
+param set-default MC_PR_INT_LIM 0.3
+param set-default MC_ROLLRATE_D 0.0044
+param set-default MC_ROLLRATE_FF 0
+param set-default MC_ROLLRATE_I 0
+param set-default MC_ROLLRATE_K 2.25
+param set-default MC_ROLLRATE_MAX 220
+param set-default MC_ROLLRATE_P 0.4
+param set-default MC_RR_INT_LIM 0.3
+param set-default MC_YAWRATE_I 0
+param set-default MC_YAWRATE_K 5
+param set-default MC_YAW_WEIGHT 0.4
+param set-default MPC_ALT_MODE 0
+param set-default MPC_HOLD_MAX_XY 0.8
+param set-default MPC_HOLD_MAX_Z 0.6
+param set-default MPC_LAND_ALT1 10
+param set-default MPC_LAND_ALT2 5
+param set-default MPC_LAND_ALT3 1
+param set-default MPC_LAND_CRWL 0.3
+param set-default MPC_LAND_RADIUS 1000
+param set-default MPC_MANTHR_MIN 0.08
+param set-default MPC_MAN_TILT_MAX 35
+param set-default MPC_MAN_Y_TAU 0.08
+param set-default MPC_POS_MODE 4
+param set-default MPC_THR_CURVE 0
+param set-default MPC_THR_HOVER 0.5
+param set-default MPC_THR_MAX 1
+param set-default MPC_THR_MIN 0.12
+param set-default MPC_THR_XY_MARG 0.3
+param set-default MPC_TILTMAX_AIR 45
+param set-default MPC_TILTMAX_LND 12
+param set-default MPC_TKO_RAMP_T 3
+param set-default MPC_TKO_SPEED 1.5
+param set-default MPC_USE_HTE 1
+param set-default MPC_VELD_LP 5
+param set-default MPC_VEL_MANUAL 10
+param set-default MPC_VEL_MAN_BACK -1
+param set-default MPC_VEL_MAN_SIDE -1
+param set-default MPC_XY_ERR_MAX 2
+param set-default MPC_XY_MAN_EXPO 0.6
+param set-default MPC_XY_P 0.05
+param set-default MPC_XY_TRAJ_P 0.5
+param set-default MPC_XY_VEL_ALL -10
+param set-default MPC_XY_VEL_D_ACC 1.5
+param set-default MPC_XY_VEL_I_ACC 0.2
+param set-default MPC_XY_VEL_MAX 12
+param set-default MPC_XY_VEL_P_ACC 1.2
+param set-default MPC_YAW_EXPO 0.6
+param set-default MPC_YAW_MODE 0
+param set-default MPC_Z_MAN_EXPO 0.6
+param set-default MPC_Z_P 0.25
+param set-default MPC_Z_VEL_ALL -3
+param set-default MPC_Z_VEL_D_ACC 0.2
+param set-default MPC_Z_VEL_I_ACC 2
+param set-default MPC_Z_VEL_MAX_DN 1.5
+param set-default MPC_Z_VEL_MAX_UP 3
+param set-default MPC_Z_VEL_P_ACC 3
+param set-default RTL_DESCEND_ALT 300
+param set-default RTL_RETURN_ALT 100
+param set-default SYS_VEHICLE_RESP -0.4
+param set-default WV_EN 0
+param set-default WV_GAIN 1
+param set-default WV_ROLL_MIN 1
+param set-default WV_YRATE_MAX 90
+param set-default MC_PITCH_P 0.5
+param set-default MC_ROLL_P 0.3
+param set-default MC_YAWRATE_D 0
+param set-default MC_YAWRATE_FF 1
+param set-default MC_YAWRATE_MAX 30
+param set-default MC_YAWRATE_P 1
+param set-default MC_YAW_P 1
+param set-default MC_YR_INT_LIM 0.3
+param set-default MPC_HOLD_DZ 0.3
+param set-default MPC_JERK_AUTO 1
+param set-default MPC_JERK_MAX 3
+param set-default MPC_LAND_RC_HELP 1
+param set-default MPC_MAN_Y_MAX 30
+param set-default MPC_XY_CRUISE 10
+param set-default MPC_YAWRAUTO_ACC 20
+param set-default MPC_YAWRAUTO_MAX 30
+# ---- Fixed-wing Specific Parameters ----
+# Parameters specific to fixed-wing flight dynamics
+
+param set-default ASPD_FALLBACK_GW 1
+param set-default FW_RR_FF 1
+param set-default FW_R_LIM 30.0000
+param set-default LNDFW_VEL_XY_MAX 15.0000
+param set-default FW_LND_FLALT  5.0000
+param set-default RTL_LOITER_RAD 1500.0000
+param set-default FW_LND_FL_PMAX 35.0000
+
+
+
+param set-default CA_ROTOR0_PX 3.0000
+param set-default CA_ROTOR0_PY 2.5000
+param set-default CA_ROTOR1_PX 3.0000
+param set-default CA_ROTOR1_PY -2.5000
+param set-default CA_ROTOR2_KM -0.0500
+param set-default CA_ROTOR2_PX -3.0000
+param set-default CA_ROTOR2_PY -2.5000
+param set-default CA_ROTOR3_KM 0.0500
+param set-default CA_ROTOR3_PX -3.0000
+param set-default CA_ROTOR3_PY 2.5000
+param set-default CA_ROTOR4_AX 1.0000
+param set-default CA_ROTOR4_AZ 0.0000
+param set-default CA_ROTOR4_KM -0.0500
+param set-default CA_ROTOR4_PX 5.0000
+param set-default CA_SV_CS0_TRQ_R -0.5000
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5000
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0000
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0000
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS_COUNT 4
+param set-default PWM_MAIN_FUNC5 201
+param set-default PWM_MAIN_FUNC6 202
+param set-default PWM_MAIN_FUNC7 203
+param set-default PWM_MAIN_FUNC8 204
+param set-default PWM_MAIN_FUNC9 105
+param set-default PWM_MAIN_REV 112
+param set-default VT_ARSP_BLEND 25.0000
+param set-default VT_ARSP_TRANS 40.0000
+param set-default VT_B_TRANS_DUR 30.0000
+param set-default VT_B_TRANS_RAMP 5.0000
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_FWD_THRUST_EN 0
+param set-default VT_F_TRANS_DUR 30.0000
+param set-default VT_QC_T_ALT_LOSS 100.0000
+param set-default VTO_LOITER_ALT 1500.0000
+param set-default VT_TRANS_MIN_TM 8.0000
+param set-default VT_TRANS_TIMEOUT 60.0000
+param set-default VT_TYPE 2
+param set-default EKF2_ABL_ACCLIM 35.0000
+param set-default EKF2_MAG_DELAY 1.0000
+param set-default FW_LND_ABORT 0
+param set-default FW_PN_R_SLEW_MAX 50.0000
+param set-default FW_PR_FF 3.4000
+param set-default FW_PR_I 0.0450
+param set-default FW_PR_P 0.3650
+param set-default FW_P_LIM_MAX 20.0000
+param set-default FW_P_LIM_MIN -15.0000
+param set-default FW_P_TC 0.4500
+param set-default FW_RR_P 0.4700
+param set-default FW_R_RMAX 20.0000
+param set-default FW_R_TC 0.6000
+param set-default FW_T_ALT_TC 10.0000
+param set-default FW_T_RLL2THR 5.0000
+param set-default FW_T_STE_R_TC 2.5000
+param set-default MIS_YAW_ERR 15.0000
+param set-default NAV_ACC_RAD 300.0000
+param set-default NAV_FW_ALT_RAD 50.0000
+param set-default NAV_MIN_LTR_ALT -1.0000
+param set-default EKF2_BARO_CTRL 1
+param set-default NAV_MC_ALT_RAD 2.0000
+
+param set-default MIS_YAW_TMT 5.0000
+param set-default MIS_YAW_ERR 20.0000
+
+param set-default EKF2_ABL_TAU 0.3
+param set-default EKF2_ABL_LIM 2
+
+param set-default EKF2_MAG_TYPE 0
+param set-default FW_LND_AIRSPD 0
+param set-default FW_PR_D 0.3550
+param set-default FW_RR_D 0.0850
+param set-default FW_RR_I 0.1300
+
+
+param set-default FW_WING_HEIGHT 3.5000
+param set-default FW_WING_SPAN 17.0000
+param set-default MIS_DIST_1WP 5000.0000
+param set-default MIS_TAKEOFF_ALT 100.0000
+param set-default MIS_TKO_LAND_REQ 0
+param set-default NAV_LOITER_RAD 1500.0000
+param set-default RTL_MIN_DIST 50.0000
+param set-default WEIGHT_BASE 3100.0000
+param set-default WEIGHT_GROSS 3500.0000
+
+
+
+param set-default FW_AIRSPD_MAX 75.0000
+param set-default FW_AIRSPD_MIN 40.0000
+param set-default FW_AIRSPD_STALL 38.0000
+param set-default FW_AIRSPD_TRIM 52.0000
+param set-default MC_ORBIT_RAD_MAX 1500.0000
+
+param set-default FW_T_SINK_MAX 6.0000
+param set-default FW_T_SINK_MIN 3.0000
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/5021_xplane_qtailsitter b/ROMFS/px4fmu_common/init.d-posix/airframes/5021_xplane_qtailsitter
new file mode 100644
index 000000000000..d5a899e3bd64
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/5021_xplane_qtailsitter
@@ -0,0 +1,118 @@
+#!/bin/sh
+#
+#
+#
+# @output MAIN1 Motor 1
+# @output MAIN2 Motor 2
+# @output MAIN3 Motor 3
+# @output MAIN4 Motor 4
+#
+# @xplane_model qtailsitter
+#
+# Airframe: Quad Tailsitter
+# Compatible Simulator: X-Plane
+# @name Quad Tailsitter for X-Plane
+# @class VTOL
+# @type VTOL Quad Tailsitter
+# @maintainer alireza787b <p30planets@gmail.com>
+# Date: Sept 2024
+# @url https://github.com/alireza787b/px4xplane/
+# Description:
+# This is the airframe definition for a 1-meter wingspan control surface-less quad tailsitter,
+# equipped with four high KV motors. The aircraft has a stall speed of approximately 20 m/s
+# and a maximum speed of around 40 m/s. It is designed to operate without any control surfaces,
+# relying solely on differential thrust and torque for control in both multicopter and fixed-wing modes.
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+# Set the MAV type to Quad Tailsitter
+param set-default MAV_TYPE 20
+
+# Airframe-specific parameters
+param set-default CA_AIRFRAME 4
+
+# Rotor configurations (positions and moments)
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.5
+param set-default CA_ROTOR0_PY 0.5
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.5
+param set-default CA_ROTOR1_PY -0.5
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.5
+param set-default CA_ROTOR2_PY -0.5
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.5
+param set-default CA_ROTOR3_PY 0.5
+param set-default CA_ROTOR3_KM -0.05
+
+# Control surface count (set to zero since it's a control surface-less tailsitter)
+param set-default CA_SV_CS_COUNT 0
+
+# Mixer assignments
+param set-default PWM_MAIN_FUNC1 101  # Motor 1
+param set-default PWM_MAIN_FUNC2 102  # Motor 2
+param set-default PWM_MAIN_FUNC3 103  # Motor 3
+param set-default PWM_MAIN_FUNC4 104  # Motor 4
+
+# Flight control parameters
+param set-default FD_FAIL_R 70           # Fail-safe return altitude
+param set-default FW_P_TC 0.2            # Pitch time constant, lower for more responsive control
+param set-default NPFG_PERIOD 8          # Path following period, adjusted for higher speeds
+
+
+# Fixed-wing rate control gains
+param set-default FW_RR_P 0.1            # Roll rate P gain
+param set-default FW_RR_I 0.02           # Roll rate I gain
+param set-default FW_RR_D 0.001          # Roll rate D gain
+param set-default FW_PR_P 0.1            # Pitch rate P gain
+param set-default FW_PR_I 0.02           # Pitch rate I gain
+param set-default FW_PR_D 0.001          # Pitch rate D gain
+param set-default FW_YR_P 0.08           # Yaw rate P gain
+param set-default FW_YR_I 0.01           # Yaw rate I gain
+param set-default FW_YR_D 0.0            # Yaw rate D gain
+
+# Throttle settings
+param set-default FW_THR_TRIM 0.6        # Trim throttle
+param set-default FW_THR_MAX 0.9         # Max throttle
+param set-default FW_THR_MIN 0.1         # Min throttle
+
+# Climb and sink rates
+param set-default FW_T_CLMB_MAX 8        # Max climb rate (m/s)
+param set-default FW_T_SINK_MAX 5        # Max sink rate (m/s)
+param set-default FW_T_SINK_MIN 2        # Min sink rate (m/s)
+
+# Airspeed settings (updated for stall speed of 20 m/s, max speed of 40 m/s)
+param set-default FW_AIRSPD_STALL 20     # Stall speed (m/s)
+param set-default FW_AIRSPD_MIN 24       # Minimum airspeed (m/s)
+param set-default FW_AIRSPD_TRIM 30      # Trim airspeed (m/s)
+param set-default FW_AIRSPD_MAX 40       # Maximum airspeed (m/s)
+
+# Multicopter settings (tuned for high KV motors)
+param set-default MC_AIRMODE 2
+param set-default MC_ROLL_P 6.0
+param set-default MC_PITCH_P 6.0
+param set-default MC_YAW_P 4.5
+param set-default MC_ROLLRATE_P 0.2
+param set-default MC_PITCHRATE_P 0.2
+param set-default MC_YAWRATE_P 0.15
+
+# VTOL transition parameters
+param set-default VT_ARSP_TRANS 26       # Transition airspeed (m/s)
+param set-default VT_F_TRANS_DUR 2       # Front transition duration (s)
+param set-default VT_B_TRANS_DUR 3       # Back transition duration (s)
+param set-default VT_FW_DIFTHR_EN 7      # Enable differential thrust for roll, pitch, yaw
+param set-default VT_FW_DIFTHR_S_R 1.0   # Differential thrust scaling for roll
+param set-default VT_FW_DIFTHR_S_P 1.0   # Differential thrust scaling for pitch
+param set-default VT_FW_DIFTHR_S_Y 1.0   # Differential thrust scaling for yaw
+param set-default VT_TYPE 0              # Tailsitter type
+
+
+param set-default EKF2_TAS_GATE 3
+param set-default EKF2_WIND_NSD 0.01
+
+param set-default EKF2_ABL_TAU 0.3
+param set-default EKF2_ABL_LIM 2
+param set-default EKF2_MAG_TYPE 0
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
index 1ba611c2755a..0b0972fc1cf2 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -88,6 +88,12 @@ px4_add_romfs_files(
 	4014_gz_x500_mono_cam_down
 	4015_gz_r1_rover_mecanum
 
+	5001_xplane_cessna172
+	5002_xplane_tb2
+	5010_xplane_ehang184
+	5020_xplane_alia250
+	5021_xplane_qtailsitter
+
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
 
diff --git a/src/drivers/gps/devices b/src/drivers/gps/devices
index fb151bcaa269..a41210ede8c2 160000
--- a/src/drivers/gps/devices
+++ b/src/drivers/gps/devices
@@ -1 +1 @@
-Subproject commit fb151bcaa2690b56d4b16aa8de9fe2448f637c3b
+Subproject commit a41210ede8c2d22dd8e9fdcf388fca927c1fc5e1
diff --git a/src/modules/simulation/simulator_mavlink/CMakeLists.txt b/src/modules/simulation/simulator_mavlink/CMakeLists.txt
index fc4fa94aa4b4..222d948f4003 100644
--- a/src/modules/simulation/simulator_mavlink/CMakeLists.txt
+++ b/src/modules/simulation/simulator_mavlink/CMakeLists.txt
@@ -59,6 +59,7 @@ include(sitl_targets_flightgear.cmake)
 include(sitl_targets_gazebo-classic.cmake)
 include(sitl_targets_jmavsim.cmake)
 include(sitl_targets_jsbsim.cmake)
+include(sitl_targets_xplane.cmake)
 
 
 # none_iris (legacy compatibility launch helper)
diff --git a/src/modules/simulation/simulator_mavlink/sitl_targets_xplane.cmake b/src/modules/simulation/simulator_mavlink/sitl_targets_xplane.cmake
new file mode 100644
index 000000000000..e12ceb3929ff
--- /dev/null
+++ b/src/modules/simulation/simulator_mavlink/sitl_targets_xplane.cmake
@@ -0,0 +1,52 @@
+# sitl_targets_xplane.cmake
+#
+# This CMake configuration file creates custom targets for SITL airframes
+# that are specifically designed to work with the X-Plane simulator.
+#
+# To add a new X-Plane airframe target, use the macro add_xplane_target defined below.
+# This macro simplifies the process of adding new airframe configurations and ensures
+# that each target adheres to the required structure for SITL simulation with X-Plane.
+#
+# Usage:
+#   add_xplane_target(<target_name> <sys_autostart_id> <airframe_file>)
+# Where:
+#   <target_name> is the custom target name used for the make command.
+#   <sys_autostart_id> is the unique identifier for the airframe.
+#   <airframe_file> is the name of the airframe file located in the PX4 ROMFS directory.
+
+# Define a macro to add new X-Plane airframe targets.
+macro(add_xplane_target TARGET_NAME SYS_AUTOSTART AIRFRAME_FILE)
+    add_custom_target(${TARGET_NAME}
+        COMMAND ${CMAKE_COMMAND} -E env PX4_SYS_AUTOSTART=${SYS_AUTOSTART} $<TARGET_FILE:px4>
+        WORKING_DIRECTORY ${SITL_WORKING_DIR}
+        USES_TERMINAL
+        DEPENDS
+            px4
+            ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/${AIRFRAME_FILE}
+        COMMENT "Launching PX4 with X-Plane airframe (SYS_AUTOSTART=${SYS_AUTOSTART})"
+    )
+endmacro()
+
+# X-Plane Cessna 172 Configuration
+add_xplane_target(xplane_cessna172 5001 5001_xplane_cessna172)
+
+# X-Plane TB 2 Fixed Wing A-Tail Configuration
+add_xplane_target(xplane_tb2 5002 5002_xplane_tb2)
+
+# X-Plane eVTOL Air Taxi (Quad Copter) - ehang184 Configuration
+add_xplane_target(xplane_ehang184 5010 5010_xplane_ehang184)
+
+# X-Plane eVTOL Air Taxi (Quad VTOL) - Alia-250 Configuration
+add_xplane_target(xplane_alia250 5020 5020_xplane_alia250)
+
+# X-Plane QTailsitter (Tailsitter VTOL) - Quantix Style
+add_xplane_target(xplane_qtailsitter 5021 5021_xplane_qtailsitter)
+
+# Instructions for adding more X-Plane configurations:
+# To add additional airframe configurations for X-Plane, follow these steps:
+#   1. Ensure the airframe file is present in the PX4 ROMFS directory under init.d-posix/airframes.
+#   2. Use the add_xplane_target macro with appropriate parameters to add a new target.
+# Example:
+#   add_xplane_target(new_airframe 1234 1234_new_airframe)
+# Replace 'new_airframe' with your target's name, '1234' with your SYS_AUTOSTART ID,
+# and '1234_new_airframe' with the corresponding airframe file name.