diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps
index 206e0632ecc5..59bb59b0a96d 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps
@@ -46,5 +46,3 @@ mc_pos_control start
 # Start Land Detector
 #
 land_detector start multicopter
-
-landing_target_estimator start
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 24717f63efc6..9b33afa59cb5 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -456,7 +456,11 @@ then
 	fi
 fi
 
-irlock start -b i2cbus
+# Landing target estimator is enabled with IR-Lock
+if param compare LTEST_EN 2
+then
+	irlock start
+fi
 
 # Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
 usleep 20000
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 0d345029bff6..5ef6dfd8e60d 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -987,6 +987,12 @@ fi
 		fi
 	fi
 
+	# Landing target estimator
+	if param greater LTEST_EN 0
+	then
+		landing_target_estimator start
+	fi
+
 	sh /etc/init.d/rc.logging
 
 # End of autostart
diff --git a/src/modules/landing_target_estimator/landing_target_estimator_params.c b/src/modules/landing_target_estimator/landing_target_estimator_params.c
index 252fc2fdb99e..add287026edd 100644
--- a/src/modules/landing_target_estimator/landing_target_estimator_params.c
+++ b/src/modules/landing_target_estimator/landing_target_estimator_params.c
@@ -132,3 +132,16 @@ PARAM_DEFINE_FLOAT(LTEST_SCALE_X, 1.0f);
  * @group Landing target Estimator
  */
 PARAM_DEFINE_FLOAT(LTEST_SCALE_Y, 1.0f);
+
+/**
+ * Landing target estimator
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 2
+ * @group Landing target Estimator
+ * @value 0 Disabled
+ * @value 1 Estimator only
+ * @value 2 IR-Lock
+ */
+PARAM_DEFINE_INT32(LTEST_EN, 0);