diff --git a/src/modules/simulator/simulator.cpp b/src/modules/simulator/simulator.cpp
index b62ef3913e..f0345ba036 100644
--- a/src/modules/simulator/simulator.cpp
+++ b/src/modules/simulator/simulator.cpp
@@ -164,6 +164,15 @@ int simulator_main(int argc, char *argv[])
 				1500,
 				Simulator::start,
 				argv);
+
+			// now wait for the command to complete
+			while(true) {
+				if (Simulator::getInstance() && Simulator::getInstance()->isInitialized()) {
+					break;
+				} else {
+					usleep(100000);
+				}
+			}
 		}
 		else
 		{
diff --git a/src/modules/simulator/simulator.h b/src/modules/simulator/simulator.h
index 5d9eaa1f4b..a0901a9ad6 100644
--- a/src/modules/simulator/simulator.h
+++ b/src/modules/simulator/simulator.h
@@ -197,6 +197,8 @@ public:
 	void write_baro_data(void *buf);
 	void write_gps_data(void *buf);
 
+	bool isInitialized() { return _initialized; }
+
 private:
 	Simulator() :
 	_accel(1),
@@ -204,11 +206,12 @@ private:
 	_baro(1),
 	_mag(1),
 	_gps(1),
-#ifndef __PX4_QURT
 	_accel_pub(nullptr),
 	_baro_pub(nullptr),
 	_gyro_pub(nullptr),
 	_mag_pub(nullptr),
+	_initialized(false),
+#ifndef __PX4_QURT
 	_rc_channels_pub(nullptr),
 	_actuator_outputs_sub(-1),
 	_vehicle_attitude_sub(-1),
@@ -238,6 +241,8 @@ private:
 	orb_advert_t _gyro_pub;
 	orb_advert_t _mag_pub;
 
+	bool _initialized;
+
 	// class methods
 	int publish_sensor_topics(mavlink_hil_sensor_t *imu);
 
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index 6871e66a7e..52f595cd43 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -405,6 +405,7 @@ void Simulator::pollForMAVLinkMessages(bool publish)
 		pret = ::poll(&fds[0], (sizeof(fds[0])/sizeof(fds[0])), 100);
 	}
 	PX4_WARN("Found initial message, pret = %d",pret);
+	_initialized = true;
 
 	if (fds[0].revents & POLLIN) {
 		len = recvfrom(_fd, _buf, sizeof(_buf), 0, (struct sockaddr *)&_srcaddr, &_addrlen);