diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 67e5f7a58c..acf41e741d 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1134,11 +1134,19 @@ int commander_thread_main(int argc, char *argv[])
 	}
 
 	// Run preflight check
-	status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !status.rc_input_mode, !status.circuit_breaker_engaged_gpsfailure_check);
-	if (!status.condition_system_sensors_initialized) {
-		set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
-	}
-	else {
+	param_get(_param_autostart_id, &autostart_id);
+	if (autostart_id > 1999) {
+		status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !status.rc_input_mode, !status.circuit_breaker_engaged_gpsfailure_check);
+		if (!status.condition_system_sensors_initialized) {
+			set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
+		}
+		else {
+			set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
+		}
+	} else {
+		// HIL configuration selected: real sensors will be disabled
+		warnx("autostart_id: %d", autostart_id);
+		status.condition_system_sensors_initialized = false;
 		set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
 	}
 
@@ -1311,7 +1319,7 @@ int commander_thread_main(int argc, char *argv[])
 
 					/* provide RC and sensor status feedback to the user */
 					(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed,
-						!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
+							!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
 				}
 
 				telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
@@ -2781,7 +2789,7 @@ void *commander_low_prio_loop(void *arg)
 						}
 
 						status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed,
-							!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
+								!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
 
 						arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, false /* fRunPreArmChecks */, mavlink_fd);