diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index 14546932aa..cd77198299 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -311,7 +311,7 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
 		uint64_t timestamp = hrt_absolute_time();
 
 		/* attitude */
-		struct vehicle_attitude_s hil_attitude;
+		struct vehicle_attitude_s hil_attitude = {};
 		{
 			hil_attitude.timestamp = timestamp;
 
@@ -329,6 +329,10 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
 			hil_attitude.pitch = euler(1);
 			hil_attitude.yaw = euler(2);
 
+			hil_attitude.rollspeed = hil_state.rollspeed;
+			hil_attitude.pitchspeed = hil_state.pitchspeed;
+			hil_attitude.yawspeed = hil_state.yawspeed;
+
 			// always publish ground truth attitude message
 			int hilstate_multi;
 			orb_publish_auto(ORB_ID(vehicle_attitude_groundtruth), &_attitude_pub, &hil_attitude, &hilstate_multi, ORB_PRIO_HIGH);