diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index 364db037b60..9739527fe7e 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -345,11 +345,7 @@ then
 	gyro_calibration start
 fi
 
-# Payload deliverer module if gripper is enabled
-if param compare -s PD_GRIPPER_EN 1
-then
-	payload_deliverer start
-fi
+payload_deliverer start
 
 if param compare -s ICE_EN 1
 then
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 86b28e38a48..82c39da0db4 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -568,11 +568,7 @@ else
 		px4flow start -X &
 	fi
 
-	# Payload deliverer module if gripper is enabled
-	if param compare -s PD_GRIPPER_EN 1
-	then
-		payload_deliverer start
-	fi
+	payload_deliverer start
 
 	if param compare -s ICE_EN 1
 	then
diff --git a/docs/en/peripherals/gripper.md b/docs/en/peripherals/gripper.md
index 66c75d3ec7d..07886d70caa 100644
--- a/docs/en/peripherals/gripper.md
+++ b/docs/en/peripherals/gripper.md
@@ -38,7 +38,7 @@ MAVLink applications, such as ground stations, can also control the gripper usin
 
 PX4 gripper support is tied to the package delivery feature, which must be enabled and configured in order to be able to use a gripper.
 
-1. Set [PD_GRIPPER_EN](../advanced_config/parameter_reference.md#PD_GRIPPER_EN) parameter to 1 (reboot required after change).
+1. Ensure your board has the Payload Deliverer module enabled: CONFIG_MODULES_PAYLOAD_DELIVERER.
 1. Set [PD_GRIPPER_TYPE](../advanced_config/parameter_reference.md#PD_GRIPPER_TYPE) to match your gripper.
    For example, set to `Servo` for a [Servo Gripper](gripper_servo.md).
 
diff --git a/src/modules/payload_deliverer/module.yaml b/src/modules/payload_deliverer/module.yaml
index fd193052a32..1fefaf7a144 100644
--- a/src/modules/payload_deliverer/module.yaml
+++ b/src/modules/payload_deliverer/module.yaml
@@ -5,13 +5,6 @@ parameters:
       definitions:
 
         # Gripper configuration
-        PD_GRIPPER_EN:
-            description:
-                short: Enable Gripper actuation in Payload Deliverer
-            type: boolean
-            default: 0
-            reboot_required: true
-
         PD_GRIPPER_TYPE:
             description:
                 short: Type of Gripper (Servo, etc.)
@@ -34,4 +27,4 @@ parameters:
             type: float
             unit: s
             min: 0
-            default: 3
+            default: 1
diff --git a/src/modules/payload_deliverer/payload_deliverer.cpp b/src/modules/payload_deliverer/payload_deliverer.cpp
index 0edb3a52705..f68913164b2 100644
--- a/src/modules/payload_deliverer/payload_deliverer.cpp
+++ b/src/modules/payload_deliverer/payload_deliverer.cpp
@@ -54,7 +54,7 @@ bool PayloadDeliverer::init()
 void PayloadDeliverer::configure_gripper()
 {
 	// If gripper instance is invalid, and user enabled the gripper, try initializing it
-	if (!_gripper.is_valid() && _param_gripper_enable.get()) {
+	if (!_gripper.is_valid()) {
 		GripperConfig config{};
 		config.type = (GripperConfig::GripperType)_param_gripper_type.get();
 		config.sensor = GripperConfig::GripperSensorType::NONE; // Feedback sensor isn't supported for now
diff --git a/src/modules/payload_deliverer/payload_deliverer.h b/src/modules/payload_deliverer/payload_deliverer.h
index 39b4cf4a151..fa68f4faa54 100644
--- a/src/modules/payload_deliverer/payload_deliverer.h
+++ b/src/modules/payload_deliverer/payload_deliverer.h
@@ -104,7 +104,7 @@ private:
 	/**
 	 * @brief Initialize or deinitialize gripper instance based on parameter settings
 	 *
-	 * Depending on `PD_GRIPPER_EN` and the state of `_gripper` instance, this function will
+	 * Depending on the state of `_gripper` instance, this function will
 	 * either try to initialize or de-initialize the gripper appropriately.
 	 */
 	void configure_gripper();
@@ -159,7 +159,6 @@ private:
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::PD_GRIPPER_TO>)	_param_gripper_timeout_s,
-		(ParamInt<px4::params::PD_GRIPPER_TYPE>)	_param_gripper_type,
-		(ParamBool<px4::params::PD_GRIPPER_EN>)		_param_gripper_enable
+		(ParamInt<px4::params::PD_GRIPPER_TYPE>)	_param_gripper_type
 	)
 };