diff --git a/posix-configs/SITL/init/rc.fixed_wing b/posix-configs/SITL/init/rc.fixed_wing
index 6c9c655f088..bc8a314e2f3 100644
--- a/posix-configs/SITL/init/rc.fixed_wing
+++ b/posix-configs/SITL/init/rc.fixed_wing
@@ -21,7 +21,7 @@ param set MPC_XY_P 0.4
 param set MPC_XY_VEL_P 0.2
 param set MPC_XY_VEL_D 0.005
 param set COM_RC_IN_MODE 1
-param set COM_DL_LOSS_EN 1
+param set NAV_DLL_ACT 2
 simulator start -s
 rgbled start
 tone_alarm start
diff --git a/posix-configs/SITL/init/rcS_ekf2_jmavsim_iris b/posix-configs/SITL/init/rcS_ekf2_jmavsim_iris
index 19ba5fdc326..2504e9f4e3e 100644
--- a/posix-configs/SITL/init/rcS_ekf2_jmavsim_iris
+++ b/posix-configs/SITL/init/rcS_ekf2_jmavsim_iris
@@ -29,7 +29,7 @@ param set MPC_XY_VEL_D 0.005
 param set SENS_BOARD_ROT 0
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
-param set COM_DL_LOSS_EN 1
+param set NAV_DLL_ACT 2
 param set NAV_ACC_RAD 2.0
 param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
diff --git a/posix-configs/SITL/init/rcS_gazebo_iris b/posix-configs/SITL/init/rcS_gazebo_iris
index 642a6857020..3cf11a5bdda 100644
--- a/posix-configs/SITL/init/rcS_gazebo_iris
+++ b/posix-configs/SITL/init/rcS_gazebo_iris
@@ -20,7 +20,7 @@ param set CAL_MAG0_XOFF 0.01
 param set SENS_BOARD_ROT 8
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
-param set COM_DL_LOSS_EN 1
+param set NAV_DLL_ACT 2
 param set COM_DISARM_LAND 3
 param set NAV_ACC_RAD 2.0
 param set RTL_RETURN_ALT 30.0
diff --git a/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow b/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
index 48c31f08c10..ce63e31f722 100644
--- a/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
+++ b/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
@@ -20,7 +20,7 @@ param set CAL_MAG0_XOFF 0.01
 param set SENS_BOARD_ROT 8
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
-param set COM_DL_LOSS_EN 1
+param set NAV_DLL_ACT 2
 param set COM_DISARM_LAND 3
 param set NAV_ACC_RAD 12.0
 param set RTL_RETURN_ALT 30.0
diff --git a/posix-configs/SITL/init/rcS_gazebo_plane b/posix-configs/SITL/init/rcS_gazebo_plane
index 141b4216660..ffe21a36acb 100644
--- a/posix-configs/SITL/init/rcS_gazebo_plane
+++ b/posix-configs/SITL/init/rcS_gazebo_plane
@@ -21,7 +21,7 @@ param set SENS_BOARD_ROT 8
 param set SENS_DPRES_OFF 0.001
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
-param set COM_DL_LOSS_EN 1
+param set NAV_DLL_ACT 2
 param set NAV_ACC_RAD 15.0
 param set FW_THR_IDLE 0.8
 simulator start -s
diff --git a/posix-configs/SITL/init/rcS_gazebo_standard_vtol b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
index afd6129e5c2..ade9d105f8d 100644
--- a/posix-configs/SITL/init/rcS_gazebo_standard_vtol
+++ b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
@@ -31,7 +31,7 @@ param set SENS_BOARD_ROT 8
 param set SENS_DPRES_OFF 0.001
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
-param set COM_DL_LOSS_EN 1
+param set NAV_DLL_ACT 2
 param set NAV_ACC_RAD 3.0
 param set MPC_TKO_SPEED 1.0
 param set MIS_YAW_TMT 10
diff --git a/posix-configs/SITL/init/rcS_gazebo_tailsitter b/posix-configs/SITL/init/rcS_gazebo_tailsitter
index 746f6b4cb62..a686fac9579 100644
--- a/posix-configs/SITL/init/rcS_gazebo_tailsitter
+++ b/posix-configs/SITL/init/rcS_gazebo_tailsitter
@@ -31,7 +31,7 @@ param set SENS_BOARD_ROT 8
 param set SENS_DPRES_OFF 0.001
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
-param set COM_DL_LOSS_EN 1
+param set NAV_DLL_ACT 2
 simulator start -s
 rgbledsim start
 tone_alarm start
diff --git a/posix-configs/SITL/init/rcS_jmavsim_iris b/posix-configs/SITL/init/rcS_jmavsim_iris
index ad5c76e5868..ab0e045afcc 100644
--- a/posix-configs/SITL/init/rcS_jmavsim_iris
+++ b/posix-configs/SITL/init/rcS_jmavsim_iris
@@ -29,7 +29,7 @@ param set MPC_XY_VEL_D 0.005
 param set SENS_BOARD_ROT 0
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
-param set COM_DL_LOSS_EN 1
+param set NAV_DLL_ACT 2
 param set COM_DISARM_LAND 3
 param set NAV_ACC_RAD 2.0
 param set RTL_RETURN_ALT 30.0
diff --git a/posix-configs/SITL/init/rcS_lpe_gazebo_iris b/posix-configs/SITL/init/rcS_lpe_gazebo_iris
index 9bfbff0ba6a..1de001b6191 100644
--- a/posix-configs/SITL/init/rcS_lpe_gazebo_iris
+++ b/posix-configs/SITL/init/rcS_lpe_gazebo_iris
@@ -30,7 +30,7 @@ param set SENS_BOARD_X_OFF 0.000001
 
 # changes for LPE
 param set COM_RC_IN_MODE 1
-param set COM_DL_LOSS_EN 1
+param set NAV_DLL_ACT 2
 param set LPE_BETA_MAX 10000
 simulator start -s
 rgbled start
diff --git a/posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow b/posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow
index aa7ea805ce6..85a3ce76177 100644
--- a/posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow
+++ b/posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow
@@ -34,7 +34,7 @@ param set RTL_DESCEND_ALT 10.0
 
 # changes for LPE
 param set COM_RC_IN_MODE 1
-param set COM_DL_LOSS_EN 1
+param set NAV_DLL_ACT 2
 param set LPE_BETA_MAX 10000
 simulator start -s
 rgbledsim start
diff --git a/posix-configs/SITL/init/rcS_lpe_jmavsim_iris b/posix-configs/SITL/init/rcS_lpe_jmavsim_iris
index aa086891850..a12d2e6f47b 100644
--- a/posix-configs/SITL/init/rcS_lpe_jmavsim_iris
+++ b/posix-configs/SITL/init/rcS_lpe_jmavsim_iris
@@ -33,7 +33,7 @@ param set NAV_ACC_RAD 2.0
 param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
 param set COM_RC_IN_MODE 1
-param set COM_DL_LOSS_EN 1
+param set NAV_DLL_ACT 2
 simulator start -s
 rgbledsim start
 tone_alarm start
diff --git a/posix-configs/SITL/init/rc_iris_ros b/posix-configs/SITL/init/rc_iris_ros
index 6864fbb4d9a..ca1cf0961e0 100644
--- a/posix-configs/SITL/init/rc_iris_ros
+++ b/posix-configs/SITL/init/rc_iris_ros
@@ -41,7 +41,7 @@ param set MP_ROLLRATE_D 0.001
 param set MP_PITCH_P 4
 param set MP_PITCHRATE_P 0.3
 param set COM_RC_IN_MODE 1
-param set COM_DL_LOSS_EN 1
+param set NAV_DLL_ACT 2
 simulator start -s
 rgbled start
 tone_alarm start