diff --git a/configs/sim/src/Makefile b/configs/sim/src/Makefile
index 73de2f5b571..c07947f9763 100644
--- a/configs/sim/src/Makefile
+++ b/configs/sim/src/Makefile
@@ -36,6 +36,7 @@
 include $(TOPDIR)/Make.defs
 
 CFLAGS += -I$(TOPDIR)/sched
+CFLAGS += -I$(TOPDIR)/arch/sim/src
 
 ASRCS =
 AOBJS = $(ASRCS:.S=$(OBJEXT))
diff --git a/configs/sim/src/sim_boot.c b/configs/sim/src/sim_boot.c
index ef84a689e99..e4e282c7849 100644
--- a/configs/sim/src/sim_boot.c
+++ b/configs/sim/src/sim_boot.c
@@ -40,6 +40,8 @@
 #include <nuttx/config.h>
 #include <nuttx/compiler.h>
 
+#include "up_internal.h"
+
 #ifdef CONFIG_GRAPHICS_TRAVELER_ROMFSDEMO
 int trv_mount_world(int minor, FAR const char *mountpoint);
 #endif
@@ -80,6 +82,12 @@ int trv_mount_world(int minor, FAR const char *mountpoint);
 #ifdef CONFIG_BOARD_INITIALIZE
 void board_initialize(void)
 {
+#ifdef CONFIG_AJOYSTICK
+  /* Initialize the simulated analog joystick input device */
+
+  sim_ajoy_initialize();
+#endif
+
 #ifdef CONFIG_GRAPHICS_TRAVELER_ROMFSDEMO
   /* Special initialization for the Traveler game simulation */
 
diff --git a/configs/sim/traveler/defconfig b/configs/sim/traveler/defconfig
index 4f4f2d63a26..f12eb8df7dc 100644
--- a/configs/sim/traveler/defconfig
+++ b/configs/sim/traveler/defconfig
@@ -102,6 +102,8 @@ CONFIG_SIM_FBHEIGHT=400
 CONFIG_SIM_FBWIDTH=640
 CONFIG_SIM_FBBPP=32
 # CONFIG_SIM_TOUCHSCREEN is not set
+CONFIG_SIM_AJOYSTICK=y
+# CONFIG_SIM_NOINPUT is not set
 # CONFIG_SIM_SPIFLASH is not set
 
 #