diff --git a/src/drivers/pwm_out_sim/CMakeLists.txt b/src/drivers/pwm_out_sim/CMakeLists.txt
index 77a5de2543..dcde17e2af 100644
--- a/src/drivers/pwm_out_sim/CMakeLists.txt
+++ b/src/drivers/pwm_out_sim/CMakeLists.txt
@@ -35,6 +35,8 @@ px4_add_module(
 	MAIN pwm_out_sim
 	SRCS
 		PWMSim.cpp
+	MODULE_CONFIG
+		module.yaml
 	DEPENDS
 		mixer
 		mixer_module
diff --git a/src/drivers/pwm_out_sim/PWMSim.cpp b/src/drivers/pwm_out_sim/PWMSim.cpp
index 86d2f57cdd..ebc5a566ef 100644
--- a/src/drivers/pwm_out_sim/PWMSim.cpp
+++ b/src/drivers/pwm_out_sim/PWMSim.cpp
@@ -104,7 +104,7 @@ PWMSim::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
 
 			for (unsigned i = 0; i < pwm->channel_count; i++) {
-				if (i < OutputModuleInterface::MAX_ACTUATORS) {
+				if (i < OutputModuleInterface::MAX_ACTUATORS && !_mixing_output.useDynamicMixing()) {
 					_mixing_output.minValue(i) = pwm->values[i];
 				}
 			}
@@ -116,7 +116,7 @@ PWMSim::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
 
 			for (unsigned i = 0; i < pwm->channel_count; i++) {
-				if (i < OutputModuleInterface::MAX_ACTUATORS) {
+				if (i < OutputModuleInterface::MAX_ACTUATORS && !_mixing_output.useDynamicMixing()) {
 					_mixing_output.maxValue(i) = pwm->values[i];
 				}
 			}
diff --git a/src/drivers/pwm_out_sim/module.yaml b/src/drivers/pwm_out_sim/module.yaml
new file mode 100644
index 0000000000..7a152924a7
--- /dev/null
+++ b/src/drivers/pwm_out_sim/module.yaml
@@ -0,0 +1,8 @@
+
+module_name: PWM Sim
+actuator_output:
+  output_groups:
+    - param_prefix: PWM_SIM
+      channel_label: 'PWM Sim'
+      num_channels: 16
+