diff --git a/platforms/common/px4_work_queue/WorkQueueManager.cpp b/platforms/common/px4_work_queue/WorkQueueManager.cpp
index f4ef294efc..966d15829e 100644
--- a/platforms/common/px4_work_queue/WorkQueueManager.cpp
+++ b/platforms/common/px4_work_queue/WorkQueueManager.cpp
@@ -266,12 +266,7 @@ WorkQueueManagerRun(int, char **)
 #ifndef __PX4_QURT
 
 			// schedule policy FIFO
-
-#if defined(ENABLE_LOCKSTEP_SCHEDULER)
-			int ret_setschedpolicy = pthread_attr_setschedpolicy(&attr, SCHED_RR);
-#else
 			int ret_setschedpolicy = pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
-#endif
 
 			if (ret_setschedpolicy != 0) {
 				PX4_ERR("failed to set sched policy SCHED_FIFO (%i)", ret_setschedpolicy);
diff --git a/platforms/posix/src/px4/common/tasks.cpp b/platforms/posix/src/px4/common/tasks.cpp
index d0027cfa00..d535f34e50 100644
--- a/platforms/posix/src/px4/common/tasks.cpp
+++ b/platforms/posix/src/px4/common/tasks.cpp
@@ -204,11 +204,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
 		return (rv < 0) ? rv : -rv;
 	}
 
-#if defined(ENABLE_LOCKSTEP_SCHEDULER)
-	rv = pthread_attr_setschedpolicy(&attr, SCHED_RR);
-#else
 	rv = pthread_attr_setschedpolicy(&attr, scheduler);
-#endif
 
 	if (rv != 0) {
 		PX4_ERR("px4_task_spawn_cmd: failed to set sched policy");