diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 80be93626b..b28653005b 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -2206,6 +2206,8 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		_hil_local_pos.yaw = euler.psi();
 		_hil_local_pos.xy_global = true;
 		_hil_local_pos.z_global = true;
+		_hil_local_pos.vxy_max = 0.0f;
+		_hil_local_pos.limit_hagl = false;
 
 		if (_local_pos_pub == nullptr) {
 			_local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &_hil_local_pos);