diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index 5145719a8a..4663f4d6f1 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -126,6 +126,12 @@ void Simulator::actuator_controls_from_outputs(mavlink_hil_actuator_controls_t *
 		is_fixed_wing = false;
 		break;
 
+	case MAV_TYPE_VTOL_RESERVED3:
+		// this is the tricopter VTOL / quad plane with 3 motors and 2 servos
+		pos_thrust_motors_count = 3;
+		is_fixed_wing = false;
+		break;
+
 	case MAV_TYPE_OCTOROTOR:
 		pos_thrust_motors_count = 8;
 		is_fixed_wing = false;