diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c
index abc91d34fa..634586fdb1 100644
--- a/src/modules/mavlink/orb_listener.c
+++ b/src/modules/mavlink/orb_listener.c
@@ -507,7 +507,7 @@ l_actuator_outputs(const struct listener *l)
 						  act_outputs.output[7]);
 
 		/* only send in HIL mode */
-		if (mavlink_hil_enabled && armed.armed) {
+		if (mavlink_hil_enabled && armed.armed && l->arg == 0) {
 
 			/* translate the current syste state to mavlink state and mode */
 			uint8_t mavlink_state = 0;