diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index 5ca7e94996..636648ca97 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -212,21 +212,18 @@ void Simulator::send_controls()
 
 void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor_t &sensors)
 {
-	float temperature = NAN;
-
 	// temperature only updated with baro
 	if ((sensors.fields_updated & SensorSource::BARO) == SensorSource::BARO) {
 		if (PX4_ISFINITE(sensors.temperature)) {
-			temperature = sensors.temperature;
 
-			_px4_accel_0.set_temperature(temperature);
-			_px4_accel_1.set_temperature(temperature);
+			_px4_accel_0.set_temperature(sensors.temperature);
+			_px4_accel_1.set_temperature(sensors.temperature);
 
-			_px4_gyro_0.set_temperature(temperature);
-			_px4_gyro_1.set_temperature(temperature);
+			_px4_gyro_0.set_temperature(sensors.temperature);
+			_px4_gyro_1.set_temperature(sensors.temperature);
 
-			_px4_mag_0.set_temperature(temperature);
-			_px4_mag_1.set_temperature(temperature);
+			_px4_mag_0.set_temperature(sensors.temperature);
+			_px4_mag_1.set_temperature(sensors.temperature);
 		}
 	}
 
@@ -261,15 +258,15 @@ void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor
 	if ((sensors.fields_updated & SensorSource::BARO) == SensorSource::BARO && !_baro_blocked) {
 		if (_baro_stuck) {
 			_px4_baro_0.update(time, _px4_baro_0.get().pressure);
-			_px4_baro_0.set_temperature(time, _px4_baro_0.get().temperature);
+			_px4_baro_0.set_temperature(_px4_baro_0.get().temperature);
 			_px4_baro_1.update(time, _px4_baro_1.get().pressure);
-			_px4_baro_1.set_temperature(time, _px4_baro_1.get().temperature);
+			_px4_baro_1.set_temperature(_px4_baro_1.get().temperature);
 
 		} else {
 			_px4_baro_0.update(time, sensors.abs_pressure);
-			_px4_baro_0.set_temperature(temperature);
+			_px4_baro_0.set_temperature(sensors.temperature);
 			_px4_baro_1.update(time, sensors.abs_pressure);
-			_px4_baro_1.set_temperature(temperature);
+			_px4_baro_1.set_temperature(sensors.temperature);
 		}
 	}
 
@@ -277,7 +274,7 @@ void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor
 	if ((sensors.fields_updated & SensorSource::DIFF_PRESS) == SensorSource::DIFF_PRESS && !_airspeed_blocked) {
 		differential_pressure_s report{};
 		report.timestamp = time;
-		report.temperature = temperature;
+		report.temperature = sensors.temperature;
 		report.differential_pressure_filtered_pa = sensors.diff_pressure * 100.0f; // convert from millibar to bar;
 		report.differential_pressure_raw_pa = sensors.diff_pressure * 100.0f; // convert from millibar to bar;