diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 3012acca2e..43000cd9da 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -321,7 +321,7 @@ else
 	then
 		set OUTPUT_MODE hil
 		sensors start -h
-		commander start --hil
+		commander start -h
 		# disable GPS
 		param set GPS_1_CONFIG 0
 
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 16748b0aad..a6ba45a7e5 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -518,11 +518,34 @@ int commander_main(int argc, char *argv[])
 
 void usage(const char *reason)
 {
-	if (reason && *reason > 0) {
+	if (reason) {
 		PX4_INFO("%s", reason);
 	}
 
-	PX4_INFO("usage: commander {start|stop|status|calibrate|check|arm [-f]|disarm|takeoff|land|transition|mode}\n");
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+The commander module contains the state machine for mode switching and failsafe behavior.
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("commander", "system");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAM_FLAG('h', "Enable HIL mode", true);
+	PRINT_MODULE_USAGE_COMMAND_DESCR("calibrate", "Run sensor calibration");
+	PRINT_MODULE_USAGE_ARG("mag|accel|gyro|level|esc|airspeed", "Calibration type", false);
+	PRINT_MODULE_USAGE_COMMAND_DESCR("check", "Run preflight checks");
+	PRINT_MODULE_USAGE_COMMAND("arm");
+	PRINT_MODULE_USAGE_PARAM_FLAG('f', "Force arming (do not run preflight checks)", true);
+	PRINT_MODULE_USAGE_COMMAND("disarm");
+	PRINT_MODULE_USAGE_COMMAND("takeoff");
+	PRINT_MODULE_USAGE_COMMAND("land");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("transition", "VTOL transition");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("mode", "Change flight mode");
+	PRINT_MODULE_USAGE_ARG("manual|acro|offboard|stabilized|rattitude|altctl|posctl|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland",
+			"Flight mode", false);
+	PRINT_MODULE_USAGE_COMMAND("lockdown");
+	PRINT_MODULE_USAGE_ARG("off", "Turn lockdown off", true);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
 void print_status()
@@ -3634,7 +3657,7 @@ Commander *Commander::instantiate(int argc, char *argv[])
 	Commander *instance = new Commander();
 
 	if (instance) {
-		if (argc >= 2 && !strcmp(argv[1], "--hil")) {
+		if (argc >= 2 && !strcmp(argv[1], "-h")) {
 			instance->enable_hil();
 		}
 	}