diff --git a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
index 98b7e9f90c..8cbf81b496 100644
--- a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
+++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
@@ -44,5 +44,5 @@ then
 	param set RWTO_TKOFF 1
 fi
 
-set HIL yes
+param set SYS_HITL 1
 set MIXER AERT
diff --git a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
index 4187d17c5f..adb282ebc4 100644
--- a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
+++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
@@ -11,5 +11,4 @@
 sh /etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
-
-set HIL yes
+param set SYS_HITL 1
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 77e5eb303a..fe7e4383bc 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -204,6 +204,12 @@ then
 		set FMU_ARGS "-t"
 	fi
 
+	if param compare SYS_HITL 1
+	then
+		# Enable HITL mode
+		set HIL yes
+	fi
+
 	#
 	# Set USE_IO flag
 	#