diff --git a/boards/px4/sitl/default.cmake b/boards/px4/sitl/default.cmake
index f907bb676bc..c2fd0bfa090 100644
--- a/boards/px4/sitl/default.cmake
+++ b/boards/px4/sitl/default.cmake
@@ -97,6 +97,9 @@ set(REPLAY_FILE "$ENV{replay}")
 if(REPLAY_FILE)
 	message("Building with uorb publisher rules support")
 	add_definitions(-DORB_USE_PUBLISHER_RULES)
-endif()
 
-set(ENABLE_LOCKSTEP_SCHEDULER yes)
+	message("Building without lockstep for replay")
+	set(ENABLE_LOCKSTEP_SCHEDULER no)
+else()
+	set(ENABLE_LOCKSTEP_SCHEDULER yes)
+endif()
diff --git a/boards/px4/sitl/rtps.cmake b/boards/px4/sitl/rtps.cmake
index 8b0514da448..266f0291b6e 100644
--- a/boards/px4/sitl/rtps.cmake
+++ b/boards/px4/sitl/rtps.cmake
@@ -98,6 +98,9 @@ set(REPLAY_FILE "$ENV{replay}")
 if(REPLAY_FILE)
 	message("Building with uorb publisher rules support")
 	add_definitions(-DORB_USE_PUBLISHER_RULES)
-endif()
 
-set(ENABLE_LOCKSTEP_SCHEDULER yes)
+	message("Building without lockstep for replay")
+	set(ENABLE_LOCKSTEP_SCHEDULER no)
+else()
+	set(ENABLE_LOCKSTEP_SCHEDULER yes)
+endif()
diff --git a/boards/px4/sitl/test.cmake b/boards/px4/sitl/test.cmake
index ba6268150ee..3918af8166e 100644
--- a/boards/px4/sitl/test.cmake
+++ b/boards/px4/sitl/test.cmake
@@ -99,4 +99,5 @@ if(REPLAY_FILE)
 	add_definitions(-DORB_USE_PUBLISHER_RULES)
 endif()
 
+message("Building without lockstep for test")
 set(ENABLE_LOCKSTEP_SCHEDULER no)