diff --git a/conf/settings/nps.xml b/conf/settings/nps.xml
index fd58df0a73..fbd42226ea 100644
--- a/conf/settings/nps.xml
+++ b/conf/settings/nps.xml
@@ -7,6 +7,8 @@
        <dl_setting var="nps_bypass_ahrs" min="0" step="1" max="1" module="nps/nps_autopilot" shortname="bypass_ahrs" values="No|Yes"/>
        <dl_setting var="nps_bypass_ins" min="0" step="1" max="1" module="nps/nps_autopilot" shortname="bypass_ins" values="No|Yes"/>
        <dl_setting var="gps_has_fix" min="0" step="1" max="1" module="subsystems/gps/gps_sim_nps" shortname="gps_fix" values="No|Yes"/>
+       <dl_setting var="autopilot.datalink_enabled" min="0" step="1" max="1" module="nps/nps_autopilot" shortname="datalink" values="OFF|ON"/>
+       <dl_setting var="ivy_tp.ivy_dl_enabled" min="0" step="1" max="1" module="subsystems/datalink/ivy_transport" shortname="downlink" values="OFF|ON"/>
        <dl_setting var="nps_electrical.supply_voltage" min="0" step="0.1" max="24" module="nps/nps_electrical" shortname="bat_voltage" unit="V"/>
        <dl_setting var="nps_atmosphere.wind_speed" min="0" step="0.1" max="25" module="nps/nps_atmosphere" shortname="wind_speed" unit="m/s"/>
        <dl_setting var="nps_atmosphere.wind_dir" min="0" step="1" max="360" module="nps/nps_atmosphere" shortname="wind_dir" unit="rad" alt_unit="deg"/>
diff --git a/sw/simulator/nps/nps_autopilot.h b/sw/simulator/nps/nps_autopilot.h
index ce18596952..c25b66b2ae 100644
--- a/sw/simulator/nps/nps_autopilot.h
+++ b/sw/simulator/nps/nps_autopilot.h
@@ -27,6 +27,7 @@
 struct NpsAutopilot {
   double commands[NPS_COMMANDS_NB];
   bool_t launch;
+  bool_t datalink_enabled;
 };
 
 extern struct NpsAutopilot autopilot;
diff --git a/sw/simulator/nps/nps_autopilot_fixedwing.c b/sw/simulator/nps/nps_autopilot_fixedwing.c
index 0e1bc09855..9271269d0d 100644
--- a/sw/simulator/nps/nps_autopilot_fixedwing.c
+++ b/sw/simulator/nps/nps_autopilot_fixedwing.c
@@ -52,6 +52,9 @@
 // for launch
 #include "firmwares/fixedwing/autopilot.h"
 
+// for datalink_time hack
+#include "subsystems/datalink/datalink.h"
+
 struct NpsAutopilot autopilot;
 bool_t nps_bypass_ahrs;
 bool_t nps_bypass_ins;
@@ -72,6 +75,7 @@ bool_t nps_bypass_ins;
 void nps_autopilot_init(enum NpsRadioControlType type_rc, int num_rc_script, char* rc_dev) {
 
   autopilot.launch = FALSE;
+  autopilot.datalink_enabled = TRUE;
 
   nps_radio_control_init(type_rc, num_rc_script, rc_dev);
   nps_electrical_init();
@@ -169,6 +173,10 @@ PRINT_CONFIG_VAR(COMMAND_YAW)
   if (!launch)
     autopilot.commands[COMMAND_THROTTLE] = 0;
 
+  // hack to reset datalink_time, since we don't use actual dl_parse_msg
+  if (autopilot.datalink_enabled) {
+    datalink_time = 0;
+  }
 }
 
 void sim_overwrite_ahrs(void) {
diff --git a/sw/simulator/nps/nps_autopilot_rotorcraft.c b/sw/simulator/nps/nps_autopilot_rotorcraft.c
index d93dd90b88..6eb5a71f00 100644
--- a/sw/simulator/nps/nps_autopilot_rotorcraft.c
+++ b/sw/simulator/nps/nps_autopilot_rotorcraft.c
@@ -42,6 +42,9 @@
 #include "messages.h"
 #include "subsystems/datalink/downlink.h"
 
+// for datalink_time hack
+#include "subsystems/datalink/datalink.h"
+
 struct NpsAutopilot autopilot;
 bool_t nps_bypass_ahrs;
 bool_t nps_bypass_ins;
@@ -60,6 +63,7 @@ bool_t nps_bypass_ins;
 
 void nps_autopilot_init(enum NpsRadioControlType type_rc, int num_rc_script, char* rc_dev) {
   autopilot.launch = TRUE;
+  autopilot.datalink_enabled = TRUE;
 
   nps_radio_control_init(type_rc, num_rc_script, rc_dev);
   nps_electrical_init();
@@ -134,6 +138,10 @@ void nps_autopilot_run_step(double time) {
   for (uint8_t i=0; i < NPS_COMMANDS_NB; i++)
     autopilot.commands[i] = (double)motor_mixing.commands[i]/MAX_PPRZ;
 
+  // hack to reset datalink_time, since we don't use actual dl_parse_msg
+  if (autopilot.datalink_enabled) {
+    datalink_time = 0;
+  }
 }
 
 
diff --git a/sw/simulator/nps/nps_ivy_common.c b/sw/simulator/nps/nps_ivy_common.c
index 5ef6f19d7b..9c5fdf76a4 100644
--- a/sw/simulator/nps/nps_ivy_common.c
+++ b/sw/simulator/nps/nps_ivy_common.c
@@ -87,6 +87,13 @@ static void on_DL_SETTING(IvyClientPtr app __attribute__ ((unused)),
   if (atoi(argv[1]) != AC_ID)
     return;
 
+  /* HACK:
+   * we actually don't want to allow changing settings if datalink is disabled,
+   * but since we currently change this variable via settings we have to allow it
+   */
+  //if (!autopilot.datalink_enabled)
+  //  return;
+
   uint8_t index = atoi(argv[2]);
   float value = atof(argv[3]);
   DlSetting(index, value);
@@ -99,6 +106,8 @@ static void on_DL_GET_SETTING(IvyClientPtr app __attribute__ ((unused)),
                               int argc __attribute__ ((unused)), char *argv[]) {
   if (atoi(argv[1]) != AC_ID)
     return;
+  if (!autopilot.datalink_enabled)
+    return;
 
   uint8_t index = atoi(argv[2]);
   float value = settings_get_value(index);
@@ -109,6 +118,9 @@ static void on_DL_GET_SETTING(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_PING(IvyClientPtr app __attribute__ ((unused)),
                        void *user_data __attribute__ ((unused)),
                        int argc __attribute__ ((unused)), char *argv[] __attribute__ ((unused))) {
+  if (!autopilot.datalink_enabled)
+    return;
+
   DOWNLINK_SEND_PONG(DefaultChannel, DefaultDevice);
 }
 
@@ -117,6 +129,8 @@ static void on_DL_BLOCK(IvyClientPtr app __attribute__ ((unused)),
                         int argc __attribute__ ((unused)), char *argv[]){
   if (atoi(argv[2]) != AC_ID)
     return;
+  if (!autopilot.datalink_enabled)
+    return;
 
   int block = atoi(argv[1]);
   nav_goto_block(block);
@@ -127,6 +141,9 @@ static void on_DL_BLOCK(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_RC_3CH(IvyClientPtr app __attribute__ ((unused)),
                          void *user_data __attribute__ ((unused)),
                          int argc __attribute__ ((unused)), char *argv[]){
+  if (!autopilot.datalink_enabled)
+    return;
+
   uint8_t throttle_mode = atoi(argv[2]);
   int8_t roll = atoi(argv[3]);
   int8_t pitch = atoi(argv[4]);
@@ -139,6 +156,8 @@ static void on_DL_RC_4CH(IvyClientPtr app __attribute__ ((unused)),
                          int argc __attribute__ ((unused)), char *argv[]){
   if (atoi(argv[1]) != AC_ID)
     return;
+  if (!autopilot.datalink_enabled)
+    return;
 
   uint8_t mode = atoi(argv[2]);
   uint8_t throttle = atoi(argv[3]);
diff --git a/sw/simulator/nps/nps_ivy_fixedwing.c b/sw/simulator/nps/nps_ivy_fixedwing.c
index f94e099a05..cbd617bc07 100644
--- a/sw/simulator/nps/nps_ivy_fixedwing.c
+++ b/sw/simulator/nps/nps_ivy_fixedwing.c
@@ -8,6 +8,7 @@
 #include "math/pprz_algebra_double.h"
 #include "subsystems/ins.h"
 #include "subsystems/navigation/common_nav.h"
+#include "nps_autopilot.h"
 
 /* fixedwing specific Datalink Ivy functions */
 void on_DL_MOVE_WP(IvyClientPtr app __attribute__ ((unused)),
@@ -33,6 +34,8 @@ void nps_ivy_init(char* ivy_bus) {
 void on_DL_MOVE_WP(IvyClientPtr app __attribute__ ((unused)),
                    void *user_data __attribute__ ((unused)),
                    int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
 
   if (atoi(argv[2]) == AC_ID) {
     uint8_t wp_id = atoi(argv[1]);
diff --git a/sw/simulator/nps/nps_ivy_mission_commands.c b/sw/simulator/nps/nps_ivy_mission_commands.c
index 1e6e64416d..968202fbb6 100644
--- a/sw/simulator/nps/nps_ivy_mission_commands.c
+++ b/sw/simulator/nps/nps_ivy_mission_commands.c
@@ -93,6 +93,9 @@ void nps_ivy_mission_commands_init(void) {
 static void on_DL_MISSION_GOTO_WP(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
+
   uint8_t i = 0;
   float dummy;
   dl_buffer[2] = (uint8_t)(atoi(argv[1])); //ac_id
@@ -109,6 +112,9 @@ static void on_DL_MISSION_GOTO_WP(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_MISSION_GOTO_WP_LLA(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
+
   uint8_t i = 0;
   float dummy;
   dl_buffer[2] = (uint8_t)(atoi(argv[1])); //ac_id
@@ -125,6 +131,9 @@ static void on_DL_MISSION_GOTO_WP_LLA(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_MISSION_CIRCLE(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
+
   uint8_t i = 0;
   float dummy;
   dl_buffer[2] = (uint8_t)(atoi(argv[1])); //ac_id
@@ -141,6 +150,9 @@ static void on_DL_MISSION_CIRCLE(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_MISSION_CIRCLE_LLA(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
+
   uint8_t i = 0;
   float dummy;
   dl_buffer[2] = (uint8_t)(atoi(argv[1])); //ac_id
@@ -157,6 +169,9 @@ static void on_DL_MISSION_CIRCLE_LLA(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_MISSION_SEGMENT(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
+
   uint8_t i = 0;
   float dummy;
   dl_buffer[2] = (uint8_t)(atoi(argv[1])); //ac_id
@@ -173,6 +188,9 @@ static void on_DL_MISSION_SEGMENT(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_MISSION_SEGMENT_LLA(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
+
   uint8_t i = 0;
   float dummy;
   dl_buffer[2] = (uint8_t)(atoi(argv[1])); //ac_id
@@ -189,6 +207,9 @@ static void on_DL_MISSION_SEGMENT_LLA(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_MISSION_PATH(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
+
   uint8_t i = 0;
   float dummy;
   dl_buffer[2] = (uint8_t)(atoi(argv[1])); //ac_id
@@ -206,6 +227,9 @@ static void on_DL_MISSION_PATH(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_MISSION_PATH_LLA(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
+
   uint8_t i = 0;
   float dummy;
   dl_buffer[2] = (uint8_t)(atoi(argv[1])); //ac_id
@@ -223,6 +247,8 @@ static void on_DL_MISSION_PATH_LLA(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_GOTO_MISSION(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
 
   dl_buffer[2] = (uint8_t)(atoi(argv[1])); //ac_id
   dl_buffer[3] = (uint8_t)(atoi(argv[2])); //mission_id
@@ -233,6 +259,8 @@ static void on_DL_GOTO_MISSION(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_NEXT_MISSION(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
 
   dl_buffer[2] = (uint8_t)(atoi(argv[1])); //ac_id
 
@@ -242,6 +270,8 @@ static void on_DL_NEXT_MISSION(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_END_MISSION(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
 
   dl_buffer[2] = (uint8_t)(atoi(argv[1])); //ac_id
 
diff --git a/sw/simulator/nps/nps_ivy_rotorcraft.c b/sw/simulator/nps/nps_ivy_rotorcraft.c
index 9ab8dfc3b0..c3b7935309 100644
--- a/sw/simulator/nps/nps_ivy_rotorcraft.c
+++ b/sw/simulator/nps/nps_ivy_rotorcraft.c
@@ -41,6 +41,9 @@ void nps_ivy_init(char* ivy_bus) {
 static void on_DL_MOVE_WP(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
+
   if (atoi(argv[2]) == AC_ID) {
     uint8_t wp_id = atoi(argv[1]);