diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde
index f71ed72620..d5899a5b14 100644
--- a/APMrover2/APMrover2.pde
+++ b/APMrover2/APMrover2.pde
@@ -236,8 +236,8 @@ AP_GPS_HIL      g_gps_driver;
 AP_InertialSensor_MPU6000 ins;
 #elif CONFIG_INS_TYPE == CONFIG_INS_PX4
 AP_InertialSensor_PX4 ins;
-#elif CONFIG_INS_TYPE == CONFIG_INS_STUB
-AP_InertialSensor_Stub ins;
+#elif CONFIG_INS_TYPE == CONFIG_INS_HIL
+AP_InertialSensor_HIL ins;
 #elif CONFIG_INS_TYPE == CONFIG_INS_FLYMAPLE
 AP_InertialSensor_Flymaple ins;
 #elif CONFIG_INS_TYPE == CONFIG_INS_OILPAN
diff --git a/APMrover2/config.h b/APMrover2/config.h
index edf8a73466..d95a5ad119 100644
--- a/APMrover2/config.h
+++ b/APMrover2/config.h
@@ -68,7 +68,7 @@
 # define BATTERY_PIN_1	  1
 # define CURRENT_PIN_1	  2
 #elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
-# define CONFIG_INS_TYPE CONFIG_INS_STUB
+# define CONFIG_INS_TYPE CONFIG_INS_HIL
 # define CONFIG_COMPASS  AP_COMPASS_HIL
 # define BATTERY_PIN_1	  1
 # define CURRENT_PIN_1	  2
@@ -102,7 +102,7 @@
  #undef GPS_PROTOCOL
  #define GPS_PROTOCOL GPS_PROTOCOL_HIL
  #undef CONFIG_INS_TYPE
- #define CONFIG_INS_TYPE CONFIG_INS_STUB
+ #define CONFIG_INS_TYPE CONFIG_INS_HIL
  #undef  CONFIG_COMPASS
  #define CONFIG_COMPASS  AP_COMPASS_HIL
 #endif
diff --git a/APMrover2/defines.h b/APMrover2/defines.h
index 9d33fb4aed..d5d120a5bd 100644
--- a/APMrover2/defines.h
+++ b/APMrover2/defines.h
@@ -198,7 +198,7 @@ enum ap_message {
 // InertialSensor driver types
 #define CONFIG_INS_OILPAN  1
 #define CONFIG_INS_MPU6000 2
-#define CONFIG_INS_STUB    3
+#define CONFIG_INS_HIL     3
 #define CONFIG_INS_PX4     4
 
 // compass driver types