diff --git a/Tools/sitl_run.sh b/Tools/sitl_run.sh
index b195e0a4c3..050d3e2998 100755
--- a/Tools/sitl_run.sh
+++ b/Tools/sitl_run.sh
@@ -3,17 +3,15 @@
 set -e
 
 sitl_bin="$1"
-rcS_path="$2"
-debugger="$3"
-program="$4"
-model="$5"
-src_path="$6"
-build_path="$7"
+debugger="$2"
+program="$3"
+model="$4"
+src_path="$5"
+build_path="$6"
 
 echo SITL ARGS
 
 echo sitl_bin: $sitl_bin
-echo rcS_path: $rcS_path
 echo debugger: $debugger
 echo program: $program
 echo model: $model
@@ -36,9 +34,9 @@ then
 	model="iris"
 fi
 
-if [ "$#" -lt 7 ]
+if [ "$#" -lt 6 ]
 then
-	echo usage: sitl_run.sh sitl_bin rcS_path debugger program model src_path build_path
+	echo usage: sitl_run.sh sitl_bin debugger program model src_path build_path
 	echo ""
 	exit 1
 fi
@@ -99,7 +97,7 @@ pushd "$rootfs" >/dev/null
 set +e
 
 if [[ ${model} == test_* ]] || [[ ${model} == *_generated ]]; then
-	sitl_command="$sitl_bin $no_pxh $src_path/ROMFS/px4fmu_test -s ${src_path}/${rcS_path}/${model} -t $src_path/test_data"
+	sitl_command="$sitl_bin $no_pxh $src_path/ROMFS/px4fmu_test -s ${src_path}/posix-configs/SITL/init/test/${model} -t $src_path/test_data"
 else
 	sitl_command="$sitl_bin $no_pxh $src_path/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t $src_path/test_data"
 fi
diff --git a/cmake/configs/posix_sitl_default.cmake b/cmake/configs/posix_sitl_default.cmake
index f333dacc8f..ca43114198 100644
--- a/cmake/configs/posix_sitl_default.cmake
+++ b/cmake/configs/posix_sitl_default.cmake
@@ -146,11 +146,6 @@ set(config_module_list
 	#examples/hwtest
 )
 
-# Default config_sitl_rcS_dir (posix_sitl_default), this is overwritten later
-# for the config posix_sitl_efk2 and set again, explicitly, for posix_sitl_lpe,
-# which are based on posix_sitl_default.
-set(config_sitl_rcS_dir posix-configs/SITL/init/ekf2 CACHE INTERNAL "init script dir for sitl")
-
 set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
 set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")
 
diff --git a/cmake/configs/posix_sitl_test.cmake b/cmake/configs/posix_sitl_test.cmake
index 0e467f5de2..ce3ec24a94 100644
--- a/cmake/configs/posix_sitl_test.cmake
+++ b/cmake/configs/posix_sitl_test.cmake
@@ -1,5 +1,2 @@
 include(cmake/configs/posix_sitl_default.cmake)
 
-set(config_sitl_rcS_dir
-	posix-configs/SITL/init/test
-	)
diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake
index a5ce2c500d..6c9083a166 100644
--- a/platforms/posix/cmake/sitl_target.cmake
+++ b/platforms/posix/cmake/sitl_target.cmake
@@ -10,7 +10,6 @@ add_custom_target(logs_symlink DEPENDS ${PX4_BINARY_DIR}/logs)
 add_custom_target(run_config
 		COMMAND Tools/sitl_run.sh
 			$<TARGET_FILE:px4>
-			${config_sitl_rcS_dir}
 			${config_sitl_debugger}
 			${config_sitl_viewer}
 			${config_sitl_model}
@@ -69,7 +68,6 @@ foreach(viewer ${viewers})
 			add_custom_target(${_targ_name}
 					COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
 						$<TARGET_FILE:px4>
-						${config_sitl_rcS_dir}
 						${debugger}
 						${viewer}
 						${model}
diff --git a/platforms/posix/cmake/sitl_tests.cmake b/platforms/posix/cmake/sitl_tests.cmake
index 47209c59f3..0d43535e75 100644
--- a/platforms/posix/cmake/sitl_tests.cmake
+++ b/platforms/posix/cmake/sitl_tests.cmake
@@ -49,7 +49,6 @@ foreach(test_name ${tests})
 	add_test(NAME ${test_name}
 		COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
 			$<TARGET_FILE:px4>
-			posix-configs/SITL/init/test
 			none
 			none
 			test_${test_name}_generated
@@ -66,7 +65,6 @@ endforeach()
 add_test(NAME mavlink
 	COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
 		$<TARGET_FILE:px4>
-		posix-configs/SITL/init/test
 		none
 		none
 		test_mavlink
@@ -92,7 +90,6 @@ foreach(cmd_name ${test_cmds})
 	add_test(NAME posix_${cmd_name}
 		COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
 			$<TARGET_FILE:px4>
-			posix-configs/SITL/init/test
 			none
 			none
 			cmd_${cmd_name}_generated