diff --git a/src/lib/systemlib/system_params.c b/src/lib/systemlib/system_params.c
index 263097da27..c5829445e5 100644
--- a/src/lib/systemlib/system_params.c
+++ b/src/lib/systemlib/system_params.c
@@ -191,6 +191,20 @@ PARAM_DEFINE_INT32(SYS_CAL_TMIN, 5);
  */
 PARAM_DEFINE_INT32(SYS_CAL_TMAX, 10);
 
+/**
+ * Control if the vehicle has a GPS
+ *
+ * Disable this if the system has no GPS.
+ * If disabled, the sensors hub will not process sensor_gps,
+ * and GPS will not be available for the rest of the system.
+ *
+ * @boolean
+ * @reboot_required true
+ *
+ * @group System
+ */
+PARAM_DEFINE_INT32(SYS_HAS_GPS, 1);
+
 /**
  * Control if the vehicle has a magnetometer
  *
diff --git a/src/modules/commander/Arming/PreFlightCheck/checks/ekf2Check.cpp b/src/modules/commander/Arming/PreFlightCheck/checks/ekf2Check.cpp
index 06e2f4afab..a2a847949c 100644
--- a/src/modules/commander/Arming/PreFlightCheck/checks/ekf2Check.cpp
+++ b/src/modules/commander/Arming/PreFlightCheck/checks/ekf2Check.cpp
@@ -67,8 +67,11 @@ bool PreFlightCheck::ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &
 	int32_t arm_without_gps = 0;
 	param_get(param_find("COM_ARM_WO_GPS"), &arm_without_gps);
 
-	bool gps_success = true;
-	bool gps_present = true;
+	int32_t sys_has_gps = 1;
+	param_get(param_find("SYS_HAS_GPS"), &sys_has_gps);
+
+	bool gps_success = false;
+	bool gps_present = false;
 
 	// Get estimator status data if available and exit with a fail recorded if not
 	uORB::SubscriptionData<estimator_selector_status_s> estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
@@ -154,10 +157,11 @@ bool PreFlightCheck::ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &
 	}
 
 	// If GPS aiding is required, declare fault condition if the required GPS quality checks are failing
-	{
+	if (sys_has_gps == 1) {
 		const bool ekf_gps_fusion = status.control_mode_flags & (1 << estimator_status_s::CS_GPS);
 		const bool ekf_gps_check_fail = status.gps_check_fail_flags > 0;
 
+		gps_present = true;
 		gps_success = ekf_gps_fusion; // default to success if gps data is fused
 
 		if (ekf_gps_check_fail) {
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index d44a622c18..562b550cbd 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -220,6 +220,7 @@ private:
 
 	DEFINE_PARAMETERS(
 		(ParamBool<px4::params::SYS_HAS_BARO>) _param_sys_has_baro,
+		(ParamBool<px4::params::SYS_HAS_GPS>) _param_sys_has_gps,
 		(ParamBool<px4::params::SYS_HAS_MAG>) _param_sys_has_mag,
 		(ParamBool<px4::params::SENS_IMU_MODE>) _param_sens_imu_mode
 	)
@@ -535,12 +536,10 @@ void Sensors::InitializeVehicleAirData()
 {
 	if (_param_sys_has_baro.get()) {
 		if (_vehicle_air_data == nullptr) {
-			if (orb_exists(ORB_ID(sensor_baro), 0) == PX4_OK) {
-				_vehicle_air_data = new VehicleAirData();
+			_vehicle_air_data = new VehicleAirData();
 
-				if (_vehicle_air_data) {
-					_vehicle_air_data->Start();
-				}
+			if (_vehicle_air_data) {
+				_vehicle_air_data->Start();
 			}
 		}
 	}
@@ -548,8 +547,8 @@ void Sensors::InitializeVehicleAirData()
 
 void Sensors::InitializeVehicleGPSPosition()
 {
-	if (_vehicle_gps_position == nullptr) {
-		if (orb_exists(ORB_ID(sensor_gps), 0) == PX4_OK) {
+	if (_param_sys_has_gps.get()) {
+		if (_vehicle_gps_position == nullptr) {
 			_vehicle_gps_position = new VehicleGPSPosition();
 
 			if (_vehicle_gps_position) {
@@ -603,12 +602,10 @@ void Sensors::InitializeVehicleMagnetometer()
 {
 	if (_param_sys_has_mag.get()) {
 		if (_vehicle_magnetometer == nullptr) {
-			if (orb_exists(ORB_ID(sensor_mag), 0) == PX4_OK) {
-				_vehicle_magnetometer = new VehicleMagnetometer();
+			_vehicle_magnetometer = new VehicleMagnetometer();
 
-				if (_vehicle_magnetometer) {
-					_vehicle_magnetometer->Start();
-				}
+			if (_vehicle_magnetometer) {
+				_vehicle_magnetometer->Start();
 			}
 		}
 	}