From 3e1b7d4d0a1baae806e56fdb38dd3e87d8fd0e9a Mon Sep 17 00:00:00 2001
From: Yannick Poffet <yannick.poffet@auterion.com>
Date: Wed, 11 Feb 2026 11:50:00 +0100
Subject: [PATCH] clean-up(SIH): remove confusing runtime uorb sub change

---
 src/modules/simulation/simulator_sih/sih.cpp | 2 --
 src/modules/simulation/simulator_sih/sih.hpp | 2 +-
 2 files changed, 1 insertion(+), 3 deletions(-)

diff --git a/src/modules/simulation/simulator_sih/sih.cpp b/src/modules/simulation/simulator_sih/sih.cpp
index d6227ed4fa..389c7481f9 100644
--- a/src/modules/simulation/simulator_sih/sih.cpp
+++ b/src/modules/simulation/simulator_sih/sih.cpp
@@ -79,8 +79,6 @@ void Sih::run()
 					    static_cast<int32_t>(VehicleType::First),
 					    static_cast<int32_t>(VehicleType::Last)));
 
-	_actuator_out_sub = uORB::Subscription{ORB_ID(actuator_outputs_sim)};
-
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
 	lockstep_loop();
 #else
diff --git a/src/modules/simulation/simulator_sih/sih.hpp b/src/modules/simulation/simulator_sih/sih.hpp
index bda4484884..38bcaf19e1 100644
--- a/src/modules/simulation/simulator_sih/sih.hpp
+++ b/src/modules/simulation/simulator_sih/sih.hpp
@@ -131,7 +131,7 @@ private:
 	uORB::Publication<vehicle_global_position_s>  _global_position_ground_truth_pub{ORB_ID(vehicle_global_position_groundtruth)};
 
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
-	uORB::Subscription _actuator_out_sub{ORB_ID(actuator_outputs)};
+	uORB::Subscription _actuator_out_sub{ORB_ID(actuator_outputs_sim)};
 
 	// hard constants
 	static constexpr uint16_t NUM_ACTUATORS_MAX = 9;