diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index dc625310d8..01313a4ad0 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -165,6 +165,8 @@ static constexpr uint8_t COMMANDER_MAX_GPS_NOISE = 60;		/**< Maximum percentage
 #define POSVEL_PROBATION_MAX 100E6		/**< maximum probation duration (usec) */
 #define POSVEL_VALID_PROBATION_FACTOR 10	/**< the rate at which the probation duration is increased while checks are failing */
 
+static bool startup_in_hil = false;
+
 /*
  * Probation times for position and velocity validity checks to pass if failed
  * Signed integers are used because these can become negative values before constraints are applied
@@ -344,14 +346,6 @@ static int power_button_state_notification_cb(board_power_button_state_notificat
 	return PWR_BUTTON_RESPONSE_SHUT_DOWN_PENDING;
 }
 
-/**
- * check whether autostart ID is in the reserved range for HIL setups
- */
-static bool is_hil_setup(int id) {
-	return (id >= HIL_ID_MIN) && (id <= HIL_ID_MAX);
-}
-
-
 int commander_main(int argc, char *argv[])
 {
 	if (argc < 2) {
@@ -700,7 +694,7 @@ transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, co
 
 	// For HIL platforms, require that simulated sensors are connected
 	if (arm && hrt_absolute_time() > commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL &&
-		is_hil_setup(autostart_id) && status.hil_state != vehicle_status_s::HIL_STATE_ON) {
+		startup_in_hil && status.hil_state != vehicle_status_s::HIL_STATE_ON) {
 
 		mavlink_log_critical(mavlink_log_pub_local, "HIL platform: Connect to simulator before arming");
 		return TRANSITION_DENIED;
@@ -1288,8 +1282,6 @@ int commander_thread_main(int argc, char *argv[])
 	bool was_falling = false;
 	bool was_armed = false;
 
-	bool startup_in_hil = false;
-
 	// XXX for now just set sensors as initialized
 	status_flags.condition_system_sensors_initialized = true;
 
@@ -1711,7 +1703,7 @@ int commander_thread_main(int argc, char *argv[])
 	arm_mission_required = (arm_mission_required_param == 1);
 
 	status.rc_input_mode = rc_in_off;
-	if (is_hil_setup(autostart_id)) {
+	if (startup_in_hil) {
 		// HIL configuration selected: real sensors will be disabled
 		status_flags.condition_system_sensors_initialized = false;
 		set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
@@ -1968,7 +1960,7 @@ int commander_thread_main(int argc, char *argv[])
 					telemetry_preflight_checks_reported[i] = hotplug_timeout;
 
 					/* provide RC and sensor status feedback to the user */
-					if (is_hil_setup(autostart_id)) {
+					if (startup_in_hil) {
 						/* HIL configuration: check only RC input */
 						(void)Commander::preflightCheck(&mavlink_log_pub, false, false, false, false, false,
 								(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), false,
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 6b5fab9f87..4d17306e92 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -44,6 +44,7 @@
 #include <math.h>
 
 #include <px4_posix.h>
+#include <px4_shutdown.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
@@ -481,8 +482,8 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
 	} else {
 		switch (new_state) {
 		case vehicle_status_s::HIL_STATE_OFF:
-			/* we're in HIL and unexpected things can happen if we disable HIL now */
-			mavlink_log_critical(mavlink_log_pub, "Not switching off HIL (safety)");
+			/* we're in HIL and unexpected things can happen if we dis HITL. Sable HIL now */
+			mavlink_log_critical(mavlink_log_pub, "Set SYS_HITL to 0 and reboot to disable HITL.");
 			ret = TRANSITION_DENIED;
 			break;
 
@@ -492,17 +493,25 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
 			    || current_status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR) {
 
 				ret = TRANSITION_CHANGED;
-				mavlink_log_critical(mavlink_log_pub, "Switched to ON hil state");
+
+				int32_t hitl_on = 0;
+				param_get(param_find("SYS_HITL"), &hitl_on);
+
+				if (hitl_on) {
+					mavlink_log_info(mavlink_log_pub, "Enabled Hardware-in-the-loop simulation.");
+				} else {
+					mavlink_log_critical(mavlink_log_pub, "Set parameter SYS_HITL to 1 before starting HITL.");
+				}
 
 			} else {
-				mavlink_log_critical(mavlink_log_pub, "Not switching to HIL when armed");
+				mavlink_log_critical(mavlink_log_pub, "Not switching to HITL when armed.");
 				ret = TRANSITION_DENIED;
 			}
 
 			break;
 
 		default:
-			warnx("Unknown HIL state");
+			PX4_WARN("Unknown HIL state");
 			break;
 		}
 	}
diff --git a/src/modules/sensors/parameters.cpp b/src/modules/sensors/parameters.cpp
index 17155b4bd6..65ff620a41 100644
--- a/src/modules/sensors/parameters.cpp
+++ b/src/modules/sensors/parameters.cpp
@@ -225,6 +225,7 @@ int initialize_parameter_handles(ParameterHandles &parameter_handles)
 	(void)param_find("SYS_PARAM_VER");
 	(void)param_find("SYS_AUTOSTART");
 	(void)param_find("SYS_AUTOCONFIG");
+	(void)param_find("SYS_HITL");
 	(void)param_find("PWM_RATE");
 	(void)param_find("PWM_MIN");
 	(void)param_find("PWM_MAX");
diff --git a/src/modules/systemlib/system_params.c b/src/modules/systemlib/system_params.c
index dd8e9c1647..d65fcc5113 100644
--- a/src/modules/systemlib/system_params.c
+++ b/src/modules/systemlib/system_params.c
@@ -64,6 +64,18 @@ PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);
  */
 PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);
 
+/**
+ * Enable HITL mode on next boot
+ *
+ * Set to 1 to enable HITL on next boot. The system will automatically
+ * reset it on reboot.
+ *
+ * @value 0 HITL off
+ * @value 1 HITL on
+ * @group System
+ */
+PARAM_DEFINE_INT32(SYS_HITL, 0);
+
 /**
  * Set usage of IO board
  *