diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
index 800b12aff9..2ae68838ff 160000
--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@@ -1 +1 @@
-Subproject commit 800b12aff9bed3bc145f800184f83c6e9b070a29
+Subproject commit 2ae68838fff2fcaf02e95f7d27a0cafae58d9b89
diff --git a/integrationtests/run_tests.bash b/integrationtests/run_tests.bash
index 4454c34f43..4483ee3dd5 100755
--- a/integrationtests/run_tests.bash
+++ b/integrationtests/run_tests.bash
@@ -83,8 +83,8 @@ echo -e "ROS_LOG_DIR\t\t: $ROS_LOG_DIR"
 echo -e "PX4_LOG_DIR\t\t: $PX4_LOG_DIR"
 echo -e "TEST_RESULT_TARGET_DIR\t: $TEST_RESULT_TARGET_DIR"
 
-# don't exit on error anymore from here on (because single tests or exports might fail)
-set +e
+# Exit on first error as we cannot afford to wait forever
+set -e
 echo "=====> run tests"
 rostest px4 mavros_posix_tests_iris.launch
 rostest px4 mavros_posix_tests_standard_vtol.launch
diff --git a/posix-configs/SITL/init/ekf2/gazebo_tailsitter b/posix-configs/SITL/init/ekf2/gazebo_tailsitter
index 04d3a2b2f2..6c058ce20b 100644
--- a/posix-configs/SITL/init/ekf2/gazebo_tailsitter
+++ b/posix-configs/SITL/init/ekf2/gazebo_tailsitter
@@ -30,7 +30,7 @@ param set MPC_XY_FF 0.1
 param set MPC_Z_VEL_MAX 1.0
 param set MPC_Z_VEL_P 0.8
 param set MPC_Z_VEL_I 0.15
-param set SENS_BOARD_ROT 8
+param set SENS_BOARD_ROT 0
 param set SENS_DPRES_OFF 0.001
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
diff --git a/posix-configs/SITL/init/ekf2/iris b/posix-configs/SITL/init/ekf2/iris
index 6b93b86c2e..b65b03d6e7 100644
--- a/posix-configs/SITL/init/ekf2/iris
+++ b/posix-configs/SITL/init/ekf2/iris
@@ -18,7 +18,7 @@ param set CAL_ACC0_YSCALE 1.01
 param set CAL_ACC0_ZSCALE 1.01
 param set CAL_ACC1_XOFF 0.01
 param set CAL_MAG0_XOFF 0.01
-param set SENS_BOARD_ROT 8
+param set SENS_BOARD_ROT 0
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
 param set NAV_DLL_ACT 2
diff --git a/posix-configs/SITL/init/ekf2/multiple_iris b/posix-configs/SITL/init/ekf2/multiple_iris
index d1ee2acc1e..f405688c5b 100644
--- a/posix-configs/SITL/init/ekf2/multiple_iris
+++ b/posix-configs/SITL/init/ekf2/multiple_iris
@@ -27,7 +27,7 @@ param set MPC_XY_P 0.15
 param set MPC_XY_VEL_P 0.05
 param set MPC_XY_VEL_D 0.005
 param set MPC_XY_FF 0.1
-param set SENS_BOARD_ROT 8
+param set SENS_BOARD_ROT 0
 param set COM_RC_IN_MODE 1
 param set NAV_ACC_RAD 2.0
 param set RTL_RETURN_ALT 30.0
diff --git a/posix-configs/SITL/init/ekf2/plane b/posix-configs/SITL/init/ekf2/plane
index bc837d2acd..8b4d1dc341 100644
--- a/posix-configs/SITL/init/ekf2/plane
+++ b/posix-configs/SITL/init/ekf2/plane
@@ -18,7 +18,7 @@ param set CAL_ACC0_YSCALE 1.01
 param set CAL_ACC0_ZSCALE 1.01
 param set CAL_ACC1_XOFF 0.01
 param set CAL_MAG0_XOFF 0.01
-param set SENS_BOARD_ROT 8
+param set SENS_BOARD_ROT 0
 param set SENS_DPRES_OFF 0.001
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
diff --git a/posix-configs/SITL/init/ekf2/solo b/posix-configs/SITL/init/ekf2/solo
index 8701609064..c6d9c9935a 100644
--- a/posix-configs/SITL/init/ekf2/solo
+++ b/posix-configs/SITL/init/ekf2/solo
@@ -18,7 +18,7 @@ param set CAL_ACC0_YSCALE 1.01
 param set CAL_ACC0_ZSCALE 1.01
 param set CAL_ACC1_XOFF 0.01
 param set CAL_MAG0_XOFF 0.01
-param set SENS_BOARD_ROT 8
+param set SENS_BOARD_ROT 0
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
 param set NAV_DLL_ACT 2
diff --git a/posix-configs/SITL/init/ekf2/standard_vtol b/posix-configs/SITL/init/ekf2/standard_vtol
index d90ddfa891..b96448d7c2 100644
--- a/posix-configs/SITL/init/ekf2/standard_vtol
+++ b/posix-configs/SITL/init/ekf2/standard_vtol
@@ -30,7 +30,7 @@ param set MPC_XY_FF 0.1
 param set MPC_Z_VEL_MAX 1.5
 param set MPC_Z_VEL_P 0.6
 param set MPC_Z_VEL_I 0.15
-param set SENS_BOARD_ROT 8
+param set SENS_BOARD_ROT 0
 param set SENS_DPRES_OFF 0.001
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
diff --git a/posix-configs/SITL/init/ekf2/typohoon_h480 b/posix-configs/SITL/init/ekf2/typhoon_h480
similarity index 98%
rename from posix-configs/SITL/init/ekf2/typohoon_h480
rename to posix-configs/SITL/init/ekf2/typhoon_h480
index 8713c62f74..7d1a9c9e65 100644
--- a/posix-configs/SITL/init/ekf2/typohoon_h480
+++ b/posix-configs/SITL/init/ekf2/typhoon_h480
@@ -18,7 +18,7 @@ param set CAL_ACC0_YSCALE 1.01
 param set CAL_ACC0_ZSCALE 1.01
 param set CAL_ACC1_XOFF 0.01
 param set CAL_MAG0_XOFF 0.01
-param set SENS_BOARD_ROT 8
+param set SENS_BOARD_ROT 0
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
 param set NAV_DLL_ACT 2
diff --git a/posix-configs/SITL/init/inav/iris b/posix-configs/SITL/init/inav/iris
index 2aa41cdbc8..4f0375b3af 100644
--- a/posix-configs/SITL/init/inav/iris
+++ b/posix-configs/SITL/init/inav/iris
@@ -32,7 +32,7 @@ param set MPP_XY_VEL_D 0.01
 param set MPP_XY_VEL_MAX 2.0
 param set MPP_Z_VEL_P 0.3
 param set MPP_Z_P 2
-param set SENS_BOARD_ROT 8
+param set SENS_BOARD_ROT 0
 param set SENS_BOARD_X_OFF 0.000001
 param set MP_ROLL_P 3
 param set MP_ROLLRATE_P 0.3
diff --git a/posix-configs/SITL/init/inav/iris_opt_flow b/posix-configs/SITL/init/inav/iris_opt_flow
index 44060e1b52..17d580ba3e 100644
--- a/posix-configs/SITL/init/inav/iris_opt_flow
+++ b/posix-configs/SITL/init/inav/iris_opt_flow
@@ -18,7 +18,7 @@ param set CAL_ACC0_YSCALE 1.01
 param set CAL_ACC0_ZSCALE 1.01
 param set CAL_ACC1_XOFF 0.01
 param set CAL_MAG0_XOFF 0.01
-param set SENS_BOARD_ROT 8
+param set SENS_BOARD_ROT 0
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
 param set NAV_DLL_ACT 2
diff --git a/posix-configs/SITL/init/lpe/iris_opt_flow b/posix-configs/SITL/init/lpe/iris_opt_flow
index 759831595a..76f7e812ef 100644
--- a/posix-configs/SITL/init/lpe/iris_opt_flow
+++ b/posix-configs/SITL/init/lpe/iris_opt_flow
@@ -18,7 +18,7 @@ param set CAL_ACC0_YSCALE 1.01
 param set CAL_ACC0_ZSCALE 1.01
 param set CAL_ACC1_XOFF 0.01
 param set CAL_MAG0_XOFF 0.01
-param set SENS_BOARD_ROT 8
+param set SENS_BOARD_ROT 0
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
 param set NAV_DLL_ACT 2
diff --git a/posix-configs/SITL/init/lpe/standard_vtol b/posix-configs/SITL/init/lpe/standard_vtol
index 7687376acc..0dda532581 100644
--- a/posix-configs/SITL/init/lpe/standard_vtol
+++ b/posix-configs/SITL/init/lpe/standard_vtol
@@ -30,7 +30,7 @@ param set MPC_XY_FF 0.1
 param set MPC_Z_VEL_MAX 1.5
 param set MPC_Z_VEL_P 0.6
 param set MPC_Z_VEL_I 0.15
-param set SENS_BOARD_ROT 8
+param set SENS_BOARD_ROT 0
 param set SENS_DPRES_OFF 0.001
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
diff --git a/posix-configs/SITL/init/lpe/typhoon_h480 b/posix-configs/SITL/init/lpe/typhoon_h480
new file mode 100644
index 0000000000..a015b7e639
--- /dev/null
+++ b/posix-configs/SITL/init/lpe/typhoon_h480
@@ -0,0 +1,78 @@
+uorb start
+param load
+param set MAV_TYPE 13
+param set SYS_AUTOSTART 6001
+param set SYS_RESTART_TYPE 2
+dataman start
+param set BAT_N_CELLS 3
+param set CAL_GYRO0_ID 2293768
+param set CAL_ACC0_ID 1376264
+param set CAL_ACC1_ID 1310728
+param set CAL_MAG0_ID 196616
+param set CAL_GYRO0_XOFF 0.01
+param set CAL_ACC0_XOFF 0.01
+param set CAL_ACC0_YOFF -0.01
+param set CAL_ACC0_ZOFF 0.01
+param set CAL_ACC0_XSCALE 1.01
+param set CAL_ACC0_YSCALE 1.01
+param set CAL_ACC0_ZSCALE 1.01
+param set CAL_ACC1_XOFF 0.01
+param set CAL_MAG0_XOFF 0.01
+param set SENS_BOARD_ROT 0
+param set SENS_BOARD_X_OFF 0.000001
+param set COM_RC_IN_MODE 1
+param set NAV_DLL_ACT 2
+param set COM_DISARM_LAND 3
+param set NAV_ACC_RAD 2.0
+param set RTL_RETURN_ALT 30.0
+param set RTL_DESCEND_ALT 10.0
+param set RTL_LAND_DELAY 0
+param set MIS_TAKEOFF_ALT 2.5
+param set MC_ROLLRATE_P 0.2
+param set MC_PITCHRATE_P 0.2
+param set MC_PITCH_P 6
+param set MC_ROLL_P 6
+param set MPC_HOLD_MAX_Z 2.0
+param set MPC_HOLD_XY_DZ 0.1
+param set MPC_Z_VEL_P 0.6
+param set MPC_Z_VEL_I 0.15
+param set MPC_XY_VEL_P 0.15
+param set MPC_XY_VEL_I 0.2
+param set EKF2_GBIAS_INIT 0.01
+param set EKF2_ANGERR_INIT 0.01
+param set EKF2_MAG_TYPE 1
+replay tryapplyparams
+simulator start -s
+rgbledsim start
+tone_alarm start
+gyrosim start
+accelsim start
+barosim start
+adcsim start
+gpssim start
+pwm_out_sim mode_pwm
+sleep 1
+sensors start
+commander start
+land_detector start multicopter
+navigator start
+attitude_estimator_q start
+local_position_estimator start
+mc_pos_control start
+mc_att_control start
+mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix
+mavlink start -u 14556 -r 4000000
+mavlink start -u 14557 -r 4000000 -m onboard -o 14540
+mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
+mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
+mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
+mavlink stream -r 50 -s ATTITUDE -u 14556
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
+mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
+mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
+mavlink stream -r 20 -s RC_CHANNELS -u 14556
+mavlink stream -r 250 -s HIGHRES_IMU -u 14556
+mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
+sdlog2 start -r 100 -e -t -a
+mavlink boot_complete
+replay trystart