diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp
index 859cf27685150..29c7fed5508ed 100644
--- a/libraries/AP_Relay/AP_Relay.cpp
+++ b/libraries/AP_Relay/AP_Relay.cpp
@@ -157,7 +157,9 @@ void AP_Relay::set(const uint8_t instance, const bool value)
        _last_logged_pin_states = _pin_states;
     }
 #if AP_SIM_ENABLED && (CONFIG_HAL_BOARD != HAL_BOARD_SITL)
-    return;
+    if (!(AP::sitl()->on_hardware_relay_enable_mask & (1U << instance))) {
+        return;
+    }
 #endif
     hal.gpio->pinMode(_pin[instance], HAL_GPIO_OUTPUT);
     hal.gpio->write(_pin[instance], value);