Revert "Merge pull request #533 from peabody124/hitl_fix"

This reverts commit 0b43e26c866a22fd8fe1472b960403d6283ea902, reversing
changes made to d7706af2f6bebb56b63d7fbb858435a9dab6937e.
Merge pull request #555 from lilvinz/revert_533

Revert "Merge pull request #533 from peabody124/hitl_fix"