diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde
index 2c4f26510e..fa1a4769c5 100644
--- a/APMrover2/GCS_Mavlink.pde
+++ b/APMrover2/GCS_Mavlink.pde
@@ -1238,7 +1238,7 @@ static void gcs_update(void)
     for (uint8_t i=0; i<num_gcs; i++) {
         if (gcs[i].initialised) {
 #if CLI_ENABLED == ENABLED
-            gcs[i].update(run_cli);
+            gcs[i].update(g.cli_enabled==1?run_cli:NULL);
 #else
             gcs[i].update(NULL);
 #endif
diff --git a/APMrover2/Parameters.h b/APMrover2/Parameters.h
index daaafc2c36..112405e9e3 100644
--- a/APMrover2/Parameters.h
+++ b/APMrover2/Parameters.h
@@ -70,6 +70,7 @@ public:
         k_param_serial2_baud_old,
         k_param_serial2_protocol,   // deprecated, can be deleted
         k_param_serial_manager,     // serial manager library
+        k_param_cli_enabled,
 
         //
         // 130: Sensor parameters
@@ -213,6 +214,9 @@ public:
 	AP_Int16    sysid_my_gcs;
     AP_Int8     telem_delay;
     AP_Int8     skip_gyro_cal;
+#if CLI_ENABLED == ENABLED
+    AP_Int8     cli_enabled;
+#endif
 
     // sensor parameters
     AP_Int8	    compass_enabled; 
diff --git a/APMrover2/system.pde b/APMrover2/system.pde
index 719f988bf3..482c1ef9d9 100644
--- a/APMrover2/system.pde
+++ b/APMrover2/system.pde
@@ -192,13 +192,15 @@ static void init_ardupilot()
 	// the system in an odd state, we don't let the user exit the top
 	// menu; they must reset in order to fly.
 	//
-    const prog_char_t *msg = PSTR("\nPress ENTER 3 times to start interactive setup\n");
-    cliSerial->println_P(msg);
-    if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
-        gcs[1].get_uart()->println_P(msg);
-    }
-    if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != NULL)) {
-        gcs[2].get_uart()->println_P(msg);
+    if (g.cli_enabled == 1) {
+        const prog_char_t *msg = PSTR("\nPress ENTER 3 times to start interactive setup\n");
+        cliSerial->println_P(msg);
+        if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
+            gcs[1].get_uart()->println_P(msg);
+        }
+        if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != NULL)) {
+            gcs[2].get_uart()->println_P(msg);
+        }
     }
 #endif