diff --git a/ROMFS/px4fmu_common/init.d-posix/1033_plane_lidar b/ROMFS/px4fmu_common/init.d-posix/1033_plane_lidar
new file mode 100644
index 0000000000..9a2fadf22c
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/1033_plane_lidar
@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Plane SITL with downward facing LIDAR.
+#
+
+sh /etc/init.d-posix/1030_plane
+
+if [ $AUTOCNF = yes ]
+then
+	param set FW_LND_USETER 1
+
+fi
diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake
index 5fb7a0f8dd..407a9e9439 100644
--- a/platforms/posix/cmake/sitl_target.cmake
+++ b/platforms/posix/cmake/sitl_target.cmake
@@ -62,7 +62,7 @@ set(viewers none jmavsim gazebo)
 set(debuggers none ide gdb lldb ddd valgrind callgrind)
 set(models none shell
 	if750a iris iris_opt_flow iris_opt_flow_mockup iris_vision iris_rplidar iris_irlock iris_obs_avoid iris_rtps solo typhoon_h480
-	plane plane_cam plane_catapult
+	plane plane_cam plane_catapult plane_lidar
 	standard_vtol tailsitter tiltrotor
 	rover boat
 	uuv_hippocampus)