diff --git a/src/modules/sensors/voted_sensors_update.cpp b/src/modules/sensors/voted_sensors_update.cpp
index bc6e44221b..d10cd51cae 100644
--- a/src/modules/sensors/voted_sensors_update.cpp
+++ b/src/modules/sensors/voted_sensors_update.cpp
@@ -82,6 +82,11 @@ VotedSensorsUpdate::VotedSensorsUpdate(const Parameters &parameters, bool hil_en
 	_baro.voter.set_timeout(300000);
 	_mag.voter.set_timeout(300000);
 	_mag.voter.set_equal_value_threshold(1000);
+
+	if (_hil_enabled) { // HIL has less accurate timing so increase the timeouts a bit
+		_gyro.voter.set_timeout(200000);
+		_accel.voter.set_timeout(200000);
+	}
 }
 
 int VotedSensorsUpdate::init(sensor_combined_s &raw)