diff --git a/clover/README.md b/clover/README.md
index 35c3fafc..e3fd3147 100644
--- a/clover/README.md
+++ b/clover/README.md
@@ -44,16 +44,12 @@ Alternatively you may change the `fcu_url` property in `mavros.launch` file to p
 
 ## Running
 
-To start connection to SITL, use:
-
-```bash
-roslaunch clover sitl.launch
-```
-
 To start connection to the flight controller, use:
 
 ```bash
 roslaunch clover clover.launch
 ```
 
+For the simulation information see the [corresponding article](https://clover.coex.tech/en/simulation.html).
+
 > Note that the package is configured to connect to `/dev/px4fmu` by default (see [previous section](#manual-installation)). Install udev rules or specify path to your FCU device in `mavros.launch`.
diff --git a/clover/launch/sitl.launch b/clover/launch/sitl.launch
deleted file mode 100644
index bc38e650..00000000
--- a/clover/launch/sitl.launch
+++ /dev/null
@@ -1,19 +0,0 @@
-<launch>
-    <!-- clover configuration for testing in sitl -->
-    <arg name="ip" default="127.0.0.1"/>
-    <arg name="rosbridge" default="false"/>
-
-    <include file="$(find clover)/launch/clover.launch">
-        <arg name="fcu_conn" value="udp"/>
-        <arg name="fcu_ip" value="$(arg ip)"/>
-        <arg name="gcs_bridge" value="false"/>
-        <arg name="optical_flow" value="false"/>
-        <arg name="web_video_server" default="false"/>
-        <arg name="main_camera" default="false"/>
-        <arg name="rosbridge" value="$(arg rosbridge)"/>
-        <arg name="aruco" default="false"/>
-        <arg name="rangefinder_vl53l1x" default="false"/>
-        <arg name="led" default="false"/>
-        <arg name="rc" default="false"/>
-    </include>
-</launch>
diff --git a/clover_simulation/launch/simulator.launch b/clover_simulation/launch/simulator.launch
index d70f5f6c..dc6d74a0 100644
--- a/clover_simulation/launch/simulator.launch
+++ b/clover_simulation/launch/simulator.launch
@@ -1,4 +1,5 @@
 <launch>
+    <arg name="type" default="gazebo"/> <!-- gazebo, jmavsim, none (only clover packages) -->
     <arg name="mav_id" default="0"/>
     <arg name="est" default="ekf2"/> <!-- PX4 estimator: lpe, ekf2 -->
     <arg name="vehicle" default="clover"/> <!-- PX4 vehicle configuration: clover, clover_vpe -->
@@ -9,7 +10,7 @@
     <arg name="use_clover_physics" default="false"/> <!-- Use inertial parameters from CAD models -->
 
     <!-- Gazebo instance -->
-    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <include file="$(find gazebo_ros)/launch/empty_world.launch" if="$(eval type == 'gazebo')">
         <!-- Workaround for crashes in VMware -->
         <env name="SVGA_VGPU10" value="0"/>
         <arg name="gui" value="true"/>
@@ -18,13 +19,13 @@
     </include>
 
     <!-- PX4 instance -->
-    <node name="sitl_$(arg mav_id)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg mav_id)">
+    <node name="sitl_$(arg mav_id)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg mav_id)" unless="$(eval type == 'none')">
         <env name="PX4_SIM_MODEL" value="$(arg vehicle)"/>
         <env name="PX4_ESTIMATOR" value="$(arg est)"/>
     </node>
 
     <!-- Clover model -->
-    <include file="$(find clover_description)/launch/spawn_drone.launch">
+    <include file="$(find clover_description)/launch/spawn_drone.launch" if="$(eval type == 'gazebo')">
         <arg name="main_camera" value="$(arg main_camera)"/>
         <arg name="rangefinder" value="$(arg rangefinder)"/>
         <arg name="led" value="$(arg led)"/>
@@ -32,10 +33,20 @@
         <arg name="use_clover_physics" value="$(arg use_clover_physics)"/>
     </include>
 
+    <node name="jmavsim" pkg="px4" type="jmavsim_run.sh" output="screen" if="$(eval type == 'jmavsim')"/>
+
+    <param name="use_sim_time" value="false" if="$(eval type == 'jmavsim')"/>
+
     <!-- Clover services -->
     <include file="$(find clover)/launch/clover.launch">
         <arg name="simulator" value="true"/>
         <arg name="fcu_conn" value="sitl"/>
         <arg name="fcu_ip" value="127.0.0.1"/>
+        <arg name="gcs_bridge" value=""/>
+        <arg name="rc" default="false"/>
+        <arg name="web_video_server" default="false" if="$(eval type == 'jmavsim')"/>
+        <arg name="main_camera" default="false" if="$(eval type == 'jmavsim')"/>
+        <arg name="aruco" default="false" if="$(eval type == 'jmavsim')"/>
+        <arg name="led" default="false" if="$(eval type == 'jmavsim')"/>
     </include>
 </launch>
diff --git a/docs/en/sitl.md b/docs/en/sitl.md
index e3b91a5d..017dbefd 100644
--- a/docs/en/sitl.md
+++ b/docs/en/sitl.md
@@ -1,7 +1,7 @@
 PX4 Simulation
 ===
 
-> **Hint** This article is about running a standalone PX4 simulation with a generic quadcopter. Consider using [our configuration](simulation.md) for a more Clover-like experience.
+> **Warning** This article is about running a standalone PX4 simulation with a generic quadcopter and **is outdated**. Consider using [our configuration](simulation.md) for a more Clover-like experience.
 
 Main article: https://dev.px4.io/en/simulation/
 
diff --git a/docs/ru/sitl.md b/docs/ru/sitl.md
index 8bd4b8ac..4d9e9d62 100644
--- a/docs/ru/sitl.md
+++ b/docs/ru/sitl.md
@@ -198,7 +198,7 @@ catkin_make
 
 ```bash
 . devel/setup.bash
-roslaunch clover sitl.launch
+roslaunch clover_simulation simulator.launch type:=none
 ```
 
 Для того, чтобы воспользоваться функциями предоставляемыми нашим пакетом, в новом окне терминала подтяните зависимости из файла `setup`:
@@ -207,4 +207,4 @@ roslaunch clover sitl.launch
 source ~/catkin_ws/devel/setup.bash
 ```
 
-Теперь вы можете воспользоваться всеми возможностями пакета `Clover` в вашем симуляторе.
+Теперь вы можете воспользоваться всеми возможностями пакета `clover` в вашем симуляторе.