diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c
index a64d99cd49..891efe9d79 100644
--- a/apps/commander/state_machine_helper.c
+++ b/apps/commander/state_machine_helper.c
@@ -579,6 +579,8 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_
 		state_machine_publish(status_pub, current_status, mavlink_fd);
 		publish_armed_status(current_status);
 		printf("[commander] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n");
+	} else if (current_status->state_machine != SYSTEM_STATE_STANDBY) {
+		mavlink_log_critical(mavlink_fd, "[commander] REJECTING switch to HIL, not in standby.")
 	}
 
 	/* NEVER actually switch off HIL without reboot */
diff --git a/apps/drivers/hil/hil.cpp b/apps/drivers/hil/hil.cpp
index bef21848b5..ecccfb5b0f 100644
--- a/apps/drivers/hil/hil.cpp
+++ b/apps/drivers/hil/hil.cpp
@@ -824,6 +824,7 @@ hil_main(int argc, char *argv[])
 			// XXX all modes have PWM settings
 			if (argc > i + 1) {
 				pwm_update_rate_in_hz = atoi(argv[i + 1]);
+				printf("pwm update rate: %d Hz\n", pwm_update_rate_in_hz);
 			} else {
 				fprintf(stderr, "missing argument for pwm update rate (-u)\n");
 				return 1;
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index 2527e0b0ff..991bbfbab6 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -163,8 +163,8 @@ set_hil_on_off(bool hil_enabled)
 			/* 20 Hz */
 			hil_rate_interval = 50;
 		} else {
-			/* 100 Hz */
-			hil_rate_interval = 10;
+			/* 200 Hz */
+			hil_rate_interval = 5;
 		}
 
 		orb_set_interval(mavlink_subs.spa_sub, hil_rate_interval);