diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp
index c1d73dd87f..b848f6c373 100644
--- a/src/drivers/hil/hil.cpp
+++ b/src/drivers/hil/hil.cpp
@@ -391,7 +391,8 @@ HIL::task_main()
 		if (fds[0].revents & POLLIN) {
 
 			/* get controls - must always do this to avoid spinning */
-			orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls);
+			orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
+				     ORB_ID(actuator_controls_1), _t_actuators, &_controls);
 
 			/* can we mix? */
 			if (_mixers != nullptr) {