diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
index 9d2b19784c..31445dee74 160000
--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@@ -1 +1 @@
-Subproject commit 9d2b19784cb34bf8f397ab2e2f368f682f2d5d5a
+Subproject commit 31445dee74acc0a09cbcc0415145ce9f88c5a100
diff --git a/test/mavsdk_tests/process_helper.py b/test/mavsdk_tests/process_helper.py
index 5c35a20d40..52c7b1737b 100644
--- a/test/mavsdk_tests/process_helper.py
+++ b/test/mavsdk_tests/process_helper.py
@@ -224,9 +224,23 @@ class GzmodelspawnRunner(Runner):
         self.env["GAZEBO_MODEL_PATH"] = \
             workspace_dir + "/Tools/sitl_gazebo/models"
         self.cmd = "gz"
-        self.args = ["model", "--spawn-file", workspace_dir +
-                     "/Tools/sitl_gazebo/models/" +
-                     self.model + "/" + self.model + ".sdf",
+
+        if os.path.isfile(workspace_dir +
+                          "/Tools/sitl_gazebo/models/" +
+                          self.model + "/" + self.model + ".sdf"):
+            model_path = workspace_dir + \
+                "/Tools/sitl_gazebo/models/" + \
+                self.model + "/" + self.model + ".sdf"
+        elif os.path.isfile(workspace_dir +
+                            "/Tools/sitl_gazebo/models/" +
+                            self.model + "/" + self.model + "-gen.sdf"):
+            model_path = workspace_dir + \
+                "/Tools/sitl_gazebo/models/" + \
+                self.model + "/" + self.model + "-gen.sdf"
+        else:
+            raise Exception("Model not found")
+
+        self.args = ["model", "--spawn-file", model_path,
                      "--model-name", self.model,
                      "-x", "1.01", "-y", "0.98", "-z", "0.83"]