diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index 4b231548b9..4fcd47b72a 100644
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -900,7 +900,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
     }
 
 #if defined(SITL_BUILD)
-    if (lockMainPID()) {
+    if (ARMING_FLAG(SIMULATOR_MODE_HITL) || lockMainPID()) {
 #endif
 
     gyroFilter();