diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1045_tiltrotor_cam b/ROMFS/px4fmu_common/init.d-posix/airframes/1045_tiltrotor_cam
new file mode 100644
index 000000000000..29a36b3cb626
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1045_tiltrotor_cam
@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Tiltrotor SITL with camera
+#
+
+. ${R}etc/init.d-posix/airframes/1042_tiltrotor
+
+# Camera trigger interface is MAVLink
+param set-default TRIG_INTERFACE 3
+
+# Distance trigger mode enabled
+param set-default TRIG_MODE 4
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
index fadd7cfb2cc5..b1501c213c94 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -67,6 +67,7 @@ px4_add_romfs_files(
 	1042_tiltrotor
 	1043_standard_vtol_drop
 	1044_plane_lidar
+	1045_tiltrotor_cam
 	1060_rover
 	1061_r1_rover
 	1062_tf-r1
diff --git a/Tools/simulation/gazebo/sitl_gazebo b/Tools/simulation/gazebo/sitl_gazebo
index b75cced31328..c9d95f50034b 160000
--- a/Tools/simulation/gazebo/sitl_gazebo
+++ b/Tools/simulation/gazebo/sitl_gazebo
@@ -1 +1 @@
-Subproject commit b75cced31328cac2b4dd2fb3f3b24f59252d3671
+Subproject commit c9d95f50034b76d57f0518e91a61c17bfa4ed81b
diff --git a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake
index 56d34b1d5bb3..f3aa42bbd9b9 100644
--- a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake
+++ b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake
@@ -92,6 +92,7 @@ set(models
 	tailsitter
 	techpod
 	tiltrotor
+	tiltrotor_cam
 	typhoon_h480
 	uuv_bluerov2_heavy
 	uuv_hippocampus