diff --git a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
index 23dcf59..25c188f 100644
--- a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
+++ b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
@@ -67,9 +67,11 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
                 _airframeComponent->setupTriggerSignals();
                 _components.append(QVariant::fromValue(static_cast<VehicleComponent*>(_airframeComponent)));
 
-                _sensorsComponent = new SensorsComponent(_vehicle, this, this);
-                _sensorsComponent->setupTriggerSignals();
-                _components.append(QVariant::fromValue(static_cast<VehicleComponent*>(_sensorsComponent)));
+                if (!_vehicle->hilMode()) {
+                    _sensorsComponent = new SensorsComponent(_vehicle, this, this);
+                    _sensorsComponent->setupTriggerSignals();
+                    _components.append(QVariant::fromValue(static_cast<VehicleComponent*>(_sensorsComponent)));
+                }
 
                 _radioComponent = new PX4RadioComponent(_vehicle, this, this);
                 _radioComponent->setupTriggerSignals();
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index b9d437e..3858d64 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -588,6 +588,7 @@ public:
     bool            allSensorsHealthy           () const{ return _allSensorsHealthy; }
     QObject*        sysStatusSensorInfo         () { return &_sysStatusSensorInfo; }
     bool            requiresGpsFix              () const { return static_cast<bool>(_onboardControlSensorsPresent & SysStatusSensorGPS); }
+    bool            hilMode                     () const { return _base_mode & MAV_MODE_FLAG_HIL_ENABLED; }
 
     /// Get the maximum MAVLink protocol version supported
     /// @return the maximum version