diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index 343fcf4283..392bbf7bda 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -144,6 +144,8 @@ param set-default SENS_MAG_MODE 0
 
 param set-default IMU_GYRO_FFT_EN 1
 
+param set-default -s MC_AT_EN 1
+
 # By default log from boot until first disarm.
 param set-default SDLOG_MODE 1
 # enable default, estimator replay and vision/avoidance logging profiles
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps
index d11aad9f40..5e11d8473c 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps
@@ -73,7 +73,11 @@ mc_rate_control start
 # Start Multicopter Attitude Controller.
 #
 mc_att_control start
-mc_autotune_attitude_control start
+
+if param greater -s MC_AT_EN 0
+then
+	mc_autotune_attitude_control start
+fi
 
 #
 # Start Multicopter Position Controller.
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_apps b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
index 97ddee2b4b..c21800b51e 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
@@ -24,7 +24,11 @@ mc_att_control start vtol
 flight_mode_manager start
 mc_pos_control start vtol
 mc_hover_thrust_estimator start
-mc_autotune_attitude_control start
+
+if param greater -s MC_AT_EN 0
+then
+	mc_autotune_attitude_control start
+fi
 
 fw_att_control start vtol
 fw_pos_control_l1 start vtol
diff --git a/platforms/nuttx/init/imxrt/rc.board_arch_defaults b/platforms/nuttx/init/imxrt/rc.board_arch_defaults
index 588022d654..d1dd00ad9a 100644
--- a/platforms/nuttx/init/imxrt/rc.board_arch_defaults
+++ b/platforms/nuttx/init/imxrt/rc.board_arch_defaults
@@ -3,4 +3,6 @@
 # imxrt specific defaults
 #------------------------------------------------------------------------------
 
+param set-default -s MC_AT_EN 1
+
 set LOGGER_BUF 32
diff --git a/platforms/nuttx/init/stm32f7/rc.board_arch_defaults b/platforms/nuttx/init/stm32f7/rc.board_arch_defaults
index aa0cf762af..1a92497950 100644
--- a/platforms/nuttx/init/stm32f7/rc.board_arch_defaults
+++ b/platforms/nuttx/init/stm32f7/rc.board_arch_defaults
@@ -11,6 +11,8 @@ param set-default SENS_MAG_MODE 1
 
 param set-default -s IMU_GYRO_FFT_EN 1
 
+param set-default -s MC_AT_EN 1
+
 param set-default -s UAVCAN_ENABLE 2
 
 set LOGGER_BUF 64
diff --git a/platforms/nuttx/init/stm32h7/rc.board_arch_defaults b/platforms/nuttx/init/stm32h7/rc.board_arch_defaults
index 11d942bf91..9d1fee504c 100644
--- a/platforms/nuttx/init/stm32h7/rc.board_arch_defaults
+++ b/platforms/nuttx/init/stm32h7/rc.board_arch_defaults
@@ -11,6 +11,8 @@ param set-default SENS_MAG_MODE 0
 
 param set-default -s IMU_GYRO_FFT_EN 1
 
+param set-default -s MC_AT_EN 1
+
 param set-default -s UAVCAN_ENABLE 2
 
 set LOGGER_BUF 64
diff --git a/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control_params.c b/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control_params.c
index 7ca4c727a0..e530eb75a8 100644
--- a/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control_params.c
+++ b/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control_params.c
@@ -39,6 +39,14 @@
  * @author Mathieu Bresciani <mathieu@auterion.com>
  */
 
+/**
+ * Multicopter autotune module enable
+ *
+ * @boolean
+ * @group Autotune
+ */
+PARAM_DEFINE_INT32(MC_AT_EN, 0);
+
 /**
  * Start the autotuning sequence
  *