diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 964c31a9df..7ed9751f4c 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -1119,6 +1119,13 @@ then
 	fi
 	unset TEMP_CALIB_ARGS
 
+	# vmount to control mounts such as gimbals, disabled by default.
+	if param compare MNT_MODE_IN -1
+	then
+	else
+		vmount start
+	fi
+
 # End of autostart
 fi
 
diff --git a/src/drivers/vmount/vmount.cpp b/src/drivers/vmount/vmount.cpp
index 96e8206354..6b29870ae6 100644
--- a/src/drivers/vmount/vmount.cpp
+++ b/src/drivers/vmount/vmount.cpp
@@ -202,7 +202,7 @@ static int vmount_thread_main(int argc, char *argv[])
 
 	while (!thread_should_exit) {
 
-		if (!thread_data.input_objs[0] || test_input) { //need to initialize
+		if (!thread_data.input_objs[0] && (params.mnt_mode_in >= 0 || test_input)) { //need to initialize
 
 			output_config.gimbal_normal_mode_value = params.mnt_ob_norm_mode;
 			output_config.gimbal_retracted_mode_value = params.mnt_ob_lock_mode;
diff --git a/src/drivers/vmount/vmount_params.c b/src/drivers/vmount/vmount_params.c
index ef6ea9d607..0d627996e3 100644
--- a/src/drivers/vmount/vmount_params.c
+++ b/src/drivers/vmount/vmount_params.c
@@ -42,15 +42,17 @@
 * RC uses the AUX input channels (see MNT_MAN_* parameters),
 * MAVLINK_ROI uses the MAV_CMD_DO_SET_ROI Mavlink message, and MAVLINK_DO_MOUNT the
 * MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL messages to control a mount.
+* @value -1 DISABLED
 * @value 0 AUTO
 * @value 1 RC
 * @value 2 MAVLINK_ROI
 * @value 3 MAVLINK_DO_MOUNT
-* @min 0
+* @min -1
 * @max 3
 * @group Mount
+* @reboot_required true
 */
-PARAM_DEFINE_INT32(MNT_MODE_IN, 0);
+PARAM_DEFINE_INT32(MNT_MODE_IN, -1);
 
 /**
 * Mount output mode