diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 64d214ae52..40468977b1 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -330,7 +330,12 @@ then
 	sh /etc/init.d/rc.sensors
 
 	# Needs to be this early for in-air-restarts
-	commander start
+	if [ $OUTPUT_MODE == hil ]
+	then
+	    commander start -hil
+	else
+	    commander start
+	fi
 
 	#
 	# Start primary output
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index b3d71228eb..44c7fc26ea 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1132,10 +1132,10 @@ int commander_thread_main(int argc, char *argv[])
 #endif
 
 	if (argc > 2) {
-		if (!strcmp(argv[2],"-hil")) {
+		if (!strcmp(argv[3],"-hil")) {
 			startup_in_hil = true;
 		} else {
-			PX4_ERR("Argument %s not supported.", argv[2]);
+			PX4_ERR("Argument %s not supported.", argv[3]);
 			PX4_ERR("COMMANDER NOT STARTED");
 			thread_should_exit = true;
 		}