diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index 58d85376b3..6bd921e3c1 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -66,7 +66,8 @@ AP_Baro::AP_Baro() :
         _last_altitude_EAS2TAS(0.0f),
         _EAS2TAS(0.0f),
         _external_temperature(0.0f),
-        _last_external_temperature_ms(0)
+        _last_external_temperature_ms(0),
+        _hil_mode(false)
 {
     memset(sensors, 0, sizeof(sensors));
 
@@ -289,8 +290,10 @@ void AP_Baro::init(void)
  */
 void AP_Baro::update(void)
 {
-    for (uint8_t i=0; i<_num_drivers; i++) {
-        drivers[i]->update();
+    if (!_hil_mode) {
+        for (uint8_t i=0; i<_num_drivers; i++) {
+            drivers[i]->update();
+        }
     }
 
     // consider a sensor as healthy if it has had an update in the
diff --git a/libraries/AP_Baro/AP_Baro.h b/libraries/AP_Baro/AP_Baro.h
index ca79ad162d..91f9bee174 100644
--- a/libraries/AP_Baro/AP_Baro.h
+++ b/libraries/AP_Baro/AP_Baro.h
@@ -121,6 +121,9 @@ public:
     // return number of registered sensors
     uint8_t num_instances(void) const { return _num_sensors; }
 
+    // enable HIL mode
+    void set_hil_mode(void) { _hil_mode = true; }
+
 private:
     // how many drivers do we have?
     uint8_t _num_drivers;
@@ -150,6 +153,7 @@ private:
     float                               _external_temperature;
     uint32_t                            _last_external_temperature_ms;
     DerivativeFilterFloat_Size7         _climb_rate_filter;
+    bool                                _hil_mode:1;
 
     void SimpleAtmosphere(const float alt, float &sigma, float &delta, float &theta);
 };