diff --git a/Makefile b/Makefile
index ef7db710dd..c066fd16a5 100644
--- a/Makefile
+++ b/Makefile
@@ -155,7 +155,6 @@ posix_sitl_ekf2:
 
 ros_sitl_default:
 	@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead."
-#	$(call cmake-build,$@)
 
 qurt_eagle_travis:
 	$(call cmake-build,$@)
@@ -202,7 +201,7 @@ clean:
 # targets handled by cmake
 cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
 	run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim \
-	jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_tailsitter \
+	jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_iris_opt_flow gazebo_tailsitter \
 	gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol
 $(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
 
diff --git a/src/firmware/posix/CMakeLists.txt b/src/firmware/posix/CMakeLists.txt
index 003ba63c9e..88f4c383b6 100644
--- a/src/firmware/posix/CMakeLists.txt
+++ b/src/firmware/posix/CMakeLists.txt
@@ -36,7 +36,7 @@ add_dependencies(run_config mainapp)
 
 foreach(viewer none jmavsim gazebo)
 	foreach(debugger none gdb lldb ddd valgrind)
-		foreach(model none iris tailsitter standard_vtol)
+		foreach(model none iris iris_opt_flow tailsitter standard_vtol)
 			if (debugger STREQUAL "none")
 				if (model STREQUAL "none")
 					set(_targ_name "${viewer}")