diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp
index 2d49bb606b..dcb11bb795 100644
--- a/libraries/AP_HAL_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State.cpp
@@ -79,9 +79,11 @@ void SITL_State::_sitl_setup()
     if (_sitl != nullptr) {
         // setup some initial values
         _update_airspeed(0);
+#if AP_SIM_SOLOGIMBAL_ENABLED
         if (enable_gimbal) {
-            gimbal = NEW_NOTHROW SITL::Gimbal(_sitl->state);
+            gimbal = NEW_NOTHROW SITL::SoloGimbal(_sitl->state);
         }
+#endif
 
         sitl_model->set_buzzer(&_sitl->buzzer_sim);
         sitl_model->set_sprayer(&_sitl->sprayer_sim);
diff --git a/libraries/AP_HAL_SITL/SITL_State_common.cpp b/libraries/AP_HAL_SITL/SITL_State_common.cpp
index 1a45ed97d9..cf143e28bd 100644
--- a/libraries/AP_HAL_SITL/SITL_State_common.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State_common.cpp
@@ -332,7 +332,7 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const
  */
 void SITL_State_Common::sim_update(void)
 {
-#if HAL_SIM_GIMBAL_ENABLED
+#if AP_SIM_SOLOGIMBAL_ENABLED
     if (gimbal != nullptr) {
         gimbal->update();
     }
diff --git a/libraries/AP_HAL_SITL/SITL_State_common.h b/libraries/AP_HAL_SITL/SITL_State_common.h
index 7bb4c04348..95ef129c1c 100644
--- a/libraries/AP_HAL_SITL/SITL_State_common.h
+++ b/libraries/AP_HAL_SITL/SITL_State_common.h
@@ -9,7 +9,7 @@
 #define SITL_SERVO_PORT 20722
 
 #include <AP_HAL/utility/Socket_native.h>
-#include <SITL/SIM_Gimbal.h>
+#include <SITL/SIM_SoloGimbal.h>
 #include <SITL/SIM_ADSB.h>
 #include <SITL/SIM_ADSB_Sagetech_MXS.h>
 #include <SITL/SIM_EFI_Hirth.h>
@@ -104,11 +104,11 @@ public:
     bool new_rc_input;
     uint16_t pwm_output[SITL_NUM_CHANNELS];
     bool output_ready = false;
-    
-#if HAL_SIM_GIMBAL_ENABLED
+
+#if AP_SIM_SOLOGIMBAL_ENABLED
     // simulated gimbal
     bool enable_gimbal;
-    SITL::Gimbal *gimbal;
+    SITL::SoloGimbal *gimbal;
 #endif
 
 #if HAL_SIM_ADSB_ENABLED