diff --git a/makefiles/nuttx/config_aerocore_default.mk b/makefiles/nuttx/config_aerocore_default.mk
index 0ce01d499d..ba6bcdccde 100644
--- a/makefiles/nuttx/config_aerocore_default.mk
+++ b/makefiles/nuttx/config_aerocore_default.mk
@@ -21,7 +21,7 @@ MODULES		+= drivers/lsm303d
 MODULES		+= drivers/l3gd20
 MODULES		+= drivers/ms5611
 MODULES		+= drivers/gps
-MODULES		+= drivers/hil
+MODULES		+= drivers/pwm_out_sim
 MODULES		+= modules/sensors
 
 #
diff --git a/makefiles/nuttx/config_px4fmu-v1_default.mk b/makefiles/nuttx/config_px4fmu-v1_default.mk
index 26ee983ced..d7915ee8d0 100644
--- a/makefiles/nuttx/config_px4fmu-v1_default.mk
+++ b/makefiles/nuttx/config_px4fmu-v1_default.mk
@@ -28,7 +28,7 @@ MODULES		+= drivers/ll40ls
 MODULES		+= drivers/trone
 MODULES		+= drivers/mb12xx
 MODULES		+= drivers/gps
-MODULES		+= drivers/hil
+MODULES		+= drivers/pwm_out_sim
 MODULES		+= drivers/blinkm
 MODULES		+= drivers/rgbled
 MODULES		+= drivers/mkblctrl
diff --git a/makefiles/nuttx/config_px4fmu-v2_default.mk b/makefiles/nuttx/config_px4fmu-v2_default.mk
index f9bade4fdd..480b558916 100644
--- a/makefiles/nuttx/config_px4fmu-v2_default.mk
+++ b/makefiles/nuttx/config_px4fmu-v2_default.mk
@@ -31,7 +31,7 @@ MODULES		+= drivers/sf0x
 MODULES		+= drivers/ll40ls
 MODULES		+= drivers/trone
 MODULES		+= drivers/gps
-MODULES		+= drivers/hil
+MODULES		+= drivers/pwm_out_sim
 MODULES		+= drivers/hott
 MODULES		+= drivers/hott/hott_telemetry
 MODULES		+= drivers/hott/hott_sensors
diff --git a/makefiles/nuttx/config_px4fmu-v2_multiplatform.mk b/makefiles/nuttx/config_px4fmu-v2_multiplatform.mk
index b98532f715..41fc34023f 100644
--- a/makefiles/nuttx/config_px4fmu-v2_multiplatform.mk
+++ b/makefiles/nuttx/config_px4fmu-v2_multiplatform.mk
@@ -31,7 +31,7 @@ MODULES		+= drivers/mb12xx
 MODULES		+= drivers/ll40ls
 # MODULES		+= drivers/trone
 MODULES		+= drivers/gps
-MODULES		+= drivers/hil
+MODULES		+= drivers/pwm_out_sim
 MODULES		+= drivers/hott
 MODULES		+= drivers/hott/hott_telemetry
 MODULES		+= drivers/hott/hott_sensors