diff --git a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
index 100e0a67ca..d3437426f8 100644
--- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
@@ -8,8 +8,48 @@ param set-default IMU_INTEG_RATE 250
 param set-default COM_MODE_ARM_CHK 1
 
 if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
-    # Run SIH
-    . px4-rc.sihsim
+
+	echo "INFO  [init] SIH simulator"
+
+	if [ -n "${PX4_HOME_LAT}" ]; then
+		param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
+	fi
+
+	if [ -n "${PX4_HOME_LON}" ]; then
+		param set SIH_LOC_LON0 ${PX4_HOME_LON}
+	fi
+	if [ -n "${PX4_HOME_ALT}" ]; then
+		param set SIH_LOC_H0 ${PX4_HOME_ALT}
+	fi
+
+	if simulator_sih start; then
+
+		if param compare -s SENS_EN_BAROSIM 1
+		then
+			sensor_baro_sim start
+		fi
+		if param compare -s SENS_EN_GPSSIM 1
+		then
+			sensor_gps_sim start
+		fi
+		if param compare -s SENS_EN_MAGSIM 1
+		then
+			sensor_mag_sim start
+		fi
+		if param compare -s SENS_EN_ARSPDSIM 1
+		then
+			sensor_airspeed_sim start
+		fi
+		if param compare -s SENS_EN_AGPSIM 1
+		then
+			sensor_agp_sim start
+		fi
+
+
+	else
+		echo "ERROR [init] simulator_sih failed to start"
+		exit 1
+	fi
 
 elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
     # Run Gazebo (gz)
diff --git a/src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp b/src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp
index e8e4ae3a66..13dbe45479 100644
--- a/src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp
+++ b/src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp
@@ -106,9 +106,12 @@ void SensorAirspeedSim::Run()
 		updateParams();
 	}
 
-	if (_sim_failure.get() == 0) {
-		if (_vehicle_local_position_sub.updated() && _vehicle_global_position_sub.updated()
-		    && _vehicle_attitude_sub.updated()) {
+	if (_vehicle_local_position_sub.updated() && _vehicle_global_position_sub.updated()
+	    && _vehicle_attitude_sub.updated()) {
+
+		check_failure_injection();
+
+		if (_sim_failure.get() == 0 && !_arsp_blocked) {
 
 			vehicle_local_position_s lpos{};
 			_vehicle_local_position_sub.copy(&lpos);