diff --git a/platforms/common/px4_work_queue/WorkQueueManager.cpp b/platforms/common/px4_work_queue/WorkQueueManager.cpp
index f0fb3a093c..3125f576f8 100644
--- a/platforms/common/px4_work_queue/WorkQueueManager.cpp
+++ b/platforms/common/px4_work_queue/WorkQueueManager.cpp
@@ -265,7 +265,12 @@ 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/px4_posix_tasks.cpp b/platforms/posix/src/px4/common/px4_posix_tasks.cpp
index d535f34e50..d0027cfa00 100644
--- a/platforms/posix/src/px4/common/px4_posix_tasks.cpp
+++ b/platforms/posix/src/px4/common/px4_posix_tasks.cpp
@@ -204,7 +204,11 @@ 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");