diff --git a/posix-configs/SITL/init/rc.fixed_wing b/posix-configs/SITL/init/rc.fixed_wing
index a4a340cc384..65b69e4d0bb 100644
--- a/posix-configs/SITL/init/rc.fixed_wing
+++ b/posix-configs/SITL/init/rc.fixed_wing
@@ -29,7 +29,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-hil mode_pwm
+pwm_out_sim mode_pwm
 commander start
 sensors start
 land_detector start fixedwing
diff --git a/posix-configs/SITL/init/rcS b/posix-configs/SITL/init/rcS
index f9518bfa028..6a9025bc97b 100644
--- a/posix-configs/SITL/init/rcS
+++ b/posix-configs/SITL/init/rcS
@@ -34,7 +34,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-hil mode_pwm
+pwm_out_sim mode_pwm
 commander start
 sensors start
 land_detector start multicopter
diff --git a/posix-configs/SITL/init/rc_iris_ros b/posix-configs/SITL/init/rc_iris_ros
index 9dc28a8505d..558fa6464bb 100644
--- a/posix-configs/SITL/init/rc_iris_ros
+++ b/posix-configs/SITL/init/rc_iris_ros
@@ -48,7 +48,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-hil mode_pwm
+pwm_out_sim mode_pwm
 commander start
 sensors start
 land_detector start multicopter