diff --git a/src/AutoPilotPlugins/PX4/FlightModesComponent.cc b/src/AutoPilotPlugins/PX4/FlightModesComponent.cc
index 17d71adeab8df344d813dc6c835133f994fc5f6e..9c64344a770f9c606b9d614924100ed127dbe112 100644
--- a/src/AutoPilotPlugins/PX4/FlightModesComponent.cc
+++ b/src/AutoPilotPlugins/PX4/FlightModesComponent.cc
@@ -107,7 +107,7 @@ QString FlightModesComponent::prerequisiteSetup(void) const
             return plugin->airframeComponent()->name();
         } else if (!plugin->radioComponent()->setupComplete()) {
             return plugin->radioComponent()->name();
-        } else if (!plugin->sensorsComponent()->setupComplete()) {
+        } else if (!plugin->vehicle()->hilMode() && !plugin->sensorsComponent()->setupComplete()) {
             return plugin->sensorsComponent()->name();
         }
     }
diff --git a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
index 14b0ea56214316503ea8b477eff7acf213428f1f..c2adda7c0ad96d9b206c426474a9b377d6fe09e0 100644
--- a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
+++ b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
@@ -73,9 +73,11 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
             _radioComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
 
-            _sensorsComponent = new SensorsComponent(_vehicle, this);
-            _sensorsComponent->setupTriggerSignals();
-            _components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));
+            if (!_vehicle->hilMode()) {
+                _sensorsComponent = new SensorsComponent(_vehicle, this);
+                _sensorsComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));
+            }
 
             _flightModesComponent = new FlightModesComponent(_vehicle, this);
             _flightModesComponent->setupTriggerSignals();