diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index 8ee3752b22..c466d06990 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -122,8 +122,11 @@ then
 	param set BAT_N_CELLS 4
 
 	param set CAL_ACC0_ID 1311244
+	param set CAL_ACC1_ID 1311500
 	param set CAL_GYRO0_ID 1311244
+	param set CAL_GYRO1_ID 1311500
 	param set CAL_MAG0_ID 197388
+	param set CAL_MAG1_ID 197644
 
 	param set CBRK_AIRSPD_CHK 0
 	param set CBRK_SUPPLY_CHK 894281
diff --git a/src/modules/simulator/simulator.h b/src/modules/simulator/simulator.h
index d0b450c726..9d3ffb4014 100644
--- a/src/modules/simulator/simulator.h
+++ b/src/modules/simulator/simulator.h
@@ -154,10 +154,17 @@ private:
 	static Simulator *_instance;
 
 	// simulated sensor instances
-	PX4Accelerometer	_px4_accel{1311244}; // 1311244: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
-	PX4Gyroscope		_px4_gyro{1311244};  // 2294028: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
-	PX4Magnetometer		_px4_mag{197388};    //  197388: DRV_MAG_DEVTYPE_MAGSIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
-	PX4Barometer		_px4_baro{6620172};  // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
+	PX4Accelerometer	_px4_accel_0{1311244, ROTATION_NONE}; // 1311244: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
+	PX4Accelerometer	_px4_accel_1{1311500, ROTATION_NONE}; // 1311500: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
+
+	PX4Gyroscope		_px4_gyro_0{1311244, ROTATION_NONE}; // 1311244: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
+	PX4Gyroscope		_px4_gyro_1{1311500, ROTATION_NONE}; // 1311500: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
+
+	PX4Magnetometer		_px4_mag_0{197388, ROTATION_NONE}; // 197388: DRV_MAG_DEVTYPE_MAGSIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
+	PX4Magnetometer		_px4_mag_1{197644, ROTATION_NONE}; // 197644: DRV_MAG_DEVTYPE_MAGSIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
+
+	PX4Barometer		_px4_baro_0{6620172}; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
+	PX4Barometer		_px4_baro_1{6620428}; // 6620428: DRV_BARO_DEVTYPE_BAROSIM, BUS: 2, ADDR: 4, TYPE: SIMULATION
 
 	perf_counter_t _perf_sim_delay{perf_alloc(PC_ELAPSED, MODULE_NAME": network delay")};
 	perf_counter_t _perf_sim_interval{perf_alloc(PC_INTERVAL, MODULE_NAME": network interval")};
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index 271ff78971..316f7a6c93 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -219,31 +219,42 @@ void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor
 		if (PX4_ISFINITE(sensors.temperature)) {
 			temperature = sensors.temperature;
 
-			_px4_accel.set_temperature(temperature);
-			_px4_baro.set_temperature(temperature);
-			_px4_gyro.set_temperature(temperature);
-			_px4_mag.set_temperature(temperature);
+			_px4_accel_0.set_temperature(temperature);
+			_px4_accel_1.set_temperature(temperature);
+
+			_px4_baro_0.set_temperature(temperature);
+			_px4_baro_1.set_temperature(temperature);
+
+			_px4_gyro_0.set_temperature(temperature);
+			_px4_gyro_1.set_temperature(temperature);
+
+			_px4_mag_0.set_temperature(temperature);
+			_px4_mag_1.set_temperature(temperature);
 		}
 	}
 
 	// accel
 	if ((sensors.fields_updated & SensorSource::ACCEL) == SensorSource::ACCEL && !_param_sim_accel_block.get()) {
-		_px4_accel.update(time, sensors.xacc, sensors.yacc, sensors.zacc);
+		_px4_accel_0.update(time, sensors.xacc, sensors.yacc, sensors.zacc);
+		_px4_accel_1.update(time, sensors.xacc, sensors.yacc, sensors.zacc);
 	}
 
 	// gyro
 	if ((sensors.fields_updated & SensorSource::GYRO) == SensorSource::GYRO && !_param_sim_gyro_block.get()) {
-		_px4_gyro.update(time, sensors.xgyro, sensors.ygyro, sensors.zgyro);
+		_px4_gyro_0.update(time, sensors.xgyro, sensors.ygyro, sensors.zgyro);
+		_px4_gyro_1.update(time, sensors.xgyro, sensors.ygyro, sensors.zgyro);
 	}
 
 	// magnetometer
 	if ((sensors.fields_updated & SensorSource::MAG) == SensorSource::MAG && !_param_sim_mag_block.get()) {
-		_px4_mag.update(time, sensors.xmag, sensors.ymag, sensors.zmag);
+		_px4_mag_0.update(time, sensors.xmag, sensors.ymag, sensors.zmag);
+		_px4_mag_1.update(time, sensors.xmag, sensors.ymag, sensors.zmag);
 	}
 
 	// baro
 	if ((sensors.fields_updated & SensorSource::BARO) == SensorSource::BARO && !_param_sim_baro_block.get()) {
-		_px4_baro.update(time, sensors.abs_pressure);
+		_px4_baro_0.update(time, sensors.abs_pressure);
+		_px4_baro_1.update(time, sensors.abs_pressure);
 	}
 
 	// differential pressure