diff --git a/cmake/configs/posix_sitl_default.cmake b/cmake/configs/posix_sitl_default.cmake
index 1880c8c823..bd2591a6d8 100644
--- a/cmake/configs/posix_sitl_default.cmake
+++ b/cmake/configs/posix_sitl_default.cmake
@@ -71,7 +71,7 @@ set(config_extra_builtin_cmds
 	)
 
 set(config_sitl_rcS
-	posix-configs/SITL/init
+	posix-configs/SITL/init/rcS
 	CACHE FILEPATH "init script for sitl"
 	)
 
diff --git a/cmake/configs/posix_sitl_ekf2.cmake b/cmake/configs/posix_sitl_ekf2.cmake
index 3427d54141..26ca2fad5a 100644
--- a/cmake/configs/posix_sitl_ekf2.cmake
+++ b/cmake/configs/posix_sitl_ekf2.cmake
@@ -70,7 +70,7 @@ set(config_extra_builtin_cmds
 	)
 
 set(config_sitl_rcS
-	posix-configs/SITL/init
+	posix-configs/SITL/init/rcS_ekf2
 	CACHE FILEPATH "init script for sitl"
 	)
 
diff --git a/cmake/configs/posix_sitl_lpe.cmake b/cmake/configs/posix_sitl_lpe.cmake
index 174eacb16c..c264466f9d 100644
--- a/cmake/configs/posix_sitl_lpe.cmake
+++ b/cmake/configs/posix_sitl_lpe.cmake
@@ -5,5 +5,5 @@ list(APPEND config_module_list
 	)
 
 set(config_sitl_rcS
-	posix-configs/SITL/init
+	posix-configs/SITL/init/rcS_lpe
 	)
diff --git a/cmake/configs/posix_sitl_replay.cmake b/cmake/configs/posix_sitl_replay.cmake
index 8e5339ed6a..e2df0b4326 100644
--- a/cmake/configs/posix_sitl_replay.cmake
+++ b/cmake/configs/posix_sitl_replay.cmake
@@ -33,7 +33,7 @@ set(config_extra_builtin_cmds
 	)
 
 set(config_sitl_rcS
-	posix-configs/SITL/init
+	posix-configs/SITL/init/rcS
 	CACHE FILEPATH "init script for sitl"
 	)