diff --git a/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp b/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
index e4c0ac40d7..97e87b908c 100644
--- a/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
+++ b/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
@@ -84,10 +84,12 @@ void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const
     callbacks->setup();
     scheduler->system_initialized();
 
-    for (;;) {
+    while (!HALSITL::Scheduler::_should_reboot) {
         callbacks->loop();
         HALSITL::Scheduler::_run_io_procs(false);
     }
+    execv(argv[0], argv);
+    AP_HAL::panic("PANIC: REBOOT FAILED");
 }
 
 const AP_HAL::HAL& AP_HAL::get_HAL() {
diff --git a/libraries/AP_HAL_SITL/Scheduler.cpp b/libraries/AP_HAL_SITL/Scheduler.cpp
index abdd570e21..8aa339e6a0 100644
--- a/libraries/AP_HAL_SITL/Scheduler.cpp
+++ b/libraries/AP_HAL_SITL/Scheduler.cpp
@@ -23,6 +23,7 @@ bool Scheduler::_in_timer_proc = false;
 AP_HAL::MemberProc Scheduler::_io_proc[SITL_SCHEDULER_MAX_TIMER_PROCS] = {nullptr};
 uint8_t Scheduler::_num_io_procs = 0;
 bool Scheduler::_in_io_proc = false;
+bool Scheduler::_should_reboot = false;
 
 Scheduler::Scheduler(SITL_State *sitlState) :
     _sitlState(sitlState),
@@ -130,7 +131,7 @@ void Scheduler::sitl_end_atomic() {
 
 void Scheduler::reboot(bool hold_in_bootloader)
 {
-    hal.uartA->printf("REBOOT NOT IMPLEMENTED\r\n\n");
+    _should_reboot = true;
 }
 
 void Scheduler::_run_timer_procs(bool called_from_isr)
diff --git a/libraries/AP_HAL_SITL/Scheduler.h b/libraries/AP_HAL_SITL/Scheduler.h
index 6d154d7255..e7d3562510 100644
--- a/libraries/AP_HAL_SITL/Scheduler.h
+++ b/libraries/AP_HAL_SITL/Scheduler.h
@@ -50,6 +50,7 @@ public:
     uint64_t stopped_clock_usec() const { return _stopped_clock_usec; }
 
     static void _run_io_procs(bool called_from_isr);
+    static bool _should_reboot;
     
 private:
     SITL_State *_sitlState;