diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp
index 491b330a23..68a56ef772 100644
--- a/libraries/AP_HAL_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State.cpp
@@ -698,6 +698,10 @@ void SITL_State::_simulator_servos(struct sitl_input &input)
         if (_vehicle == Rover) {
             pwm_output[0] = pwm_output[1] = pwm_output[2] = pwm_output[3] = 1500;
         }
+        if (_vehicle == ArduSub) {
+            pwm_output[0] = pwm_output[1] = pwm_output[2] = pwm_output[3] =
+                    pwm_output[4] = pwm_output[5] = pwm_output[6] = pwm_output[7] = 1500;
+        }
     }
 
     // output at chosen framerate