diff --git a/conf/airframes/jsbsim.xml b/conf/airframes/jsbsim.xml
index 67fe2f0a1a..18dc8cc3ca 100644
--- a/conf/airframes/jsbsim.xml
+++ b/conf/airframes/jsbsim.xml
@@ -191,25 +191,43 @@
 
   <section name="SIMU">
     <define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
+    <define name="JSBSIM_INIT"	value="&quot;Malolo1-IC&quot;"/>
+    <define name="JSBSIM_LAUNCHSPEED"	value="15.0"/>
     <define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
     <define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
   </section>
 
- <makefile>
-#### Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+  <firmware name="fixedwing">
+    <target name="sim" 			board="pc" />
+    <target name="jsbsim" 	    board="pc"/>
+    <target name="ap" 			board="tiny_2.1"/>
 
-sim.CFLAGS += -DBOARD_CONFIG=\"boards/tiny_sim.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
+    <define name="AGR_CLIMB" />
+    <define name="LOITER_TRIM" />
+    <define name="ALT_KALMAN" />
+
+    <subsystem name="radio_control" type="ppm"/>
+
+    <!-- Communication -->
+    <subsystem name="telemetry" 	type="transparent">
+      <configure name="MODEM_BAUD" 		value="B9600"/>
+    </subsystem>
+
+    <subsystem name="control"/>
+    <!-- Sensors -->
+    <subsystem name="gyro"          type="roll"/>
+    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="gps" 		    type="ublox_lea4p"/>
+    <subsystem name="navigation"/>
+
+  </firmware>
 
 
-#### Config for SITL simulation with JSBSim
-SRC_FIRMWARE = firmwares/fixedwing
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl_jsbsim.makefile
+  <firmware name="setup">
+    <target name="tunnel"           board="tiny_2.1" />
+    <target name="usb_tunnel_0"     board="tiny_2.1" />
+    <target name="usb_tunnel_1"     board="tiny_2.1" />
+    <target name="setup_actuators"  board="tiny_2.1" />
+  </firmware>
 
-jsbsim.CFLAGS += -DBOARD_CONFIG=\"boards/tiny_sim.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-jsbsim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
-jsbsim.srcs += $(SIMDIR)/sim_ac_fw.c
-
-  </makefile>
 </airframe>
diff --git a/conf/simulator/Malolo1/Malolo1-IC.xml b/conf/simulator/Malolo1/Malolo1-IC.xml
new file mode 100644
index 0000000000..89c46bef55
--- /dev/null
+++ b/conf/simulator/Malolo1/Malolo1-IC.xml
@@ -0,0 +1,49 @@
+<?xml version="1.0"?>
+
+  <!--
+	This file sets up the aircraft initial conditions.
+
+	Allowable units are:
+		Length:			M IN FT
+		Angles:			DEG RAD
+		Velocity:		M/S FT/SEC KTS
+		Area:			M2 FT2
+		Volume:			CC LTR M3 IN3 FT3
+		Mass/Weight:		KG LBS
+		Moments of Inertia: KG*M2 SLUG*FT2
+		Torque:			N*M FT*LBS
+		Force:			N LBS
+		Spring Force:	N/M LBS/FT
+		Damping Force:	N/M/SEC LBS/FT/SEC
+		Power:			WATTS HP
+		Pressure:		PA ATM PSI PSF INHG
+
+	Some example initial conditions are given below. Not all are needed.
+
+	Note that the launch condition body aligned forward velocity is given in sim_ac_fw.c
+	and can be defined in the SIMU section of the airframe file. See jsbsim.xml for example.
+
+	Other ICs are allowable, see JSBSim source for more info:
+		FGInitialCondition::Load	()
+		FGInitialCondition::Load_v1()
+		FGInitialCondition::Load_v2()
+
+  -->
+
+<initialize name="beforelaunch">
+<!-- Location -->
+  <latitude 		unit="DEG">		43.46223	</latitude> <!-- Muret, FR -->
+  <longitude 	unit="DEG"> 		1.27289 	</longitude> <!-- Muret, FR -->
+  <elevation		unit="M"	>		186.0		</elevation> <!-- terrain elevation -->
+  <altitudeAGL	unit="M"> 		2.0 		</altitudeAGL> <!-- altitude above ground level -->
+<!-- Orientation -->
+  <psi 			unit="DEG">		0.0 		</psi> <!-- heading (yaw) -->
+  <theta 		unit="DEG">		0.0 		</theta> <!-- pitch -->
+  <phi 			unit="DEG">		0.0 		</phi> <!-- roll -->
+<!-- Wind -->
+  <winddir 		unit="DEG">		0.0 		</winddir> <!-- positive velocity direction (0.0 is wind from south) -->
+  <vwind 		unit="KTS">		20.0 		</vwind>
+<!--Do not modify-->
+  <vground		unit="KTS">		0.0		</vground> <!-- ground speed -->
+  <running>						-1		</running> <!-- set all engines running -->
+</initialize>
diff --git a/sw/simulator/sim_ac_fw.c b/sw/simulator/sim_ac_fw.c
index fac1a433b5..e9dde43ab0 100644
--- a/sw/simulator/sim_ac_fw.c
+++ b/sw/simulator/sim_ac_fw.c
@@ -127,6 +127,9 @@ static inline double normalize_from_pprz(int command) {
 void copy_inputs_to_jsbsim(FGFDMExec* FDMExec) {
   static double throttle_slewed = 0.;
   static double th = 0.;
+#ifndef JSBSIM_LAUNCHSPEED
+#define JSBSIM_LAUNCHSPEED 20.0 //launch speed in m/s aligned with airframe body forward
+#endif
   if (run_model) th += 0.01;
   if (th >= 1) th = 1;
   // detect launch
@@ -134,8 +137,9 @@ void copy_inputs_to_jsbsim(FGFDMExec* FDMExec) {
     run_model = true;
     //set_value(FDMExec, "propulsion/set-running", 1);
     // set initial speed
-    FDMExec->GetIC()->SetAltitudeAGLFtIC(5.0 / FT2M);
-    FDMExec->GetIC()->SetVgroundFpsIC(20./FT2M);
+    //FDMExec->GetIC()->SetAltitudeAGLFtIC(5.0 / FT2M);
+    //FDMExec->GetIC()->SetVgroundFpsIC(20./FT2M);
+    FDMExec->GetIC()->SetUBodyFpsIC( JSBSIM_LAUNCHSPEED / FT2M);
     FDMExec->RunIC();
     th = 0.;
   }
diff --git a/sw/simulator/sim_ac_jsbsim.c b/sw/simulator/sim_ac_jsbsim.c
index 3806af2909..55f66a17a8 100644
--- a/sw/simulator/sim_ac_jsbsim.c
+++ b/sw/simulator/sim_ac_jsbsim.c
@@ -253,7 +253,7 @@ void jsbsim_init(void) {
       IC->SetLatitudeDegIC(NAV_LAT0 / 1e7);
       IC->SetLongitudeDegIC(NAV_LON0 / 1e7);
           
-      IC->SetAltitudeASLFtIC(GROUND_ALT / FT2M);
+      IC->SetAltitudeASLFtIC((GROUND_ALT + 2.0) / FT2M);
       IC->SetTerrainElevationFtIC(GROUND_ALT / FT2M);
       IC->SetPsiDegIC(QFU);
       IC->SetVgroundFpsIC(0.);