diff --git a/src/drivers/pwm_out_sim/PWMSim.cpp b/src/drivers/pwm_out_sim/PWMSim.cpp
index 3aea68c915..4f5c0934f0 100644
--- a/src/drivers/pwm_out_sim/PWMSim.cpp
+++ b/src/drivers/pwm_out_sim/PWMSim.cpp
@@ -161,9 +161,6 @@ PWMSim::run()
 
 	_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
 
-	/* advertise the mixed control outputs, insist on the first group output */
-	_outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_actuator_outputs);
-
 	update_params();
 	int params_sub = orb_subscribe(ORB_ID(parameter_update));
 
@@ -293,9 +290,10 @@ PWMSim::run()
 				orb_publish_auto(ORB_ID(multirotor_motor_limits), &_mixer_status, &motor_limits, &instance, ORB_PRIO_DEFAULT);
 			}
 
-			/* and publish for anyone that cares to see */
 			_actuator_outputs.timestamp = hrt_absolute_time();
-			orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_actuator_outputs);
+
+			_outputs_pub.publish(_actuator_outputs);
+
 
 			// use first valid timestamp_sample for latency tracking
 			for (int i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
diff --git a/src/drivers/pwm_out_sim/PWMSim.hpp b/src/drivers/pwm_out_sim/PWMSim.hpp
index 81d26e8b63..802f5a450c 100644
--- a/src/drivers/pwm_out_sim/PWMSim.hpp
+++ b/src/drivers/pwm_out_sim/PWMSim.hpp
@@ -45,6 +45,7 @@
 #include <px4_module.h>
 #include <px4_tasks.h>
 #include <px4_time.h>
+#include <uORB/Publication.hpp>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
@@ -109,8 +110,8 @@ private:
 
 	int		_armed_sub{-1};
 
-	actuator_outputs_s _actuator_outputs = {};
-	orb_advert_t	_outputs_pub{nullptr};
+	actuator_outputs_s _actuator_outputs {};
+	uORB::Publication<actuator_outputs_s> _outputs_pub{ORB_ID(actuator_outputs)};
 	orb_advert_t	_mixer_status{nullptr};
 
 	unsigned	_num_outputs{0};