diff --git a/Tools/autotest/sim_vehicle.sh b/Tools/autotest/sim_vehicle.sh
index b9a7bf153e..a288cf6ca8 100755
--- a/Tools/autotest/sim_vehicle.sh
+++ b/Tools/autotest/sim_vehicle.sh
@@ -150,7 +150,9 @@ kill_tasks()
     }
 }
 
+if [ $START_HIL == 0 ]; then
 kill_tasks
+fi
 
 trap kill_tasks SIGINT
 
@@ -364,4 +366,6 @@ if [ $USE_MAVLINK_GIMBAL == 1 ]; then
     options="$options --load-module=gimbal"
 fi
 mavproxy.py $options --cmd="$extra_cmd" $*
+if [ $START_HIL == 0 ]; then
 kill_tasks
+fi