rc scripts cleanup, avoid duplicating parameters, use inheritance instead

21 files changed, 164 insertions, 410 deletions

diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
index 56c74a3b5..49a50e130 100644
--- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
@@ -10,13 +10,15 @@ then
 	#
 	# Default parameters for this platform
 	#
-	param set MC_ATT_P 5.0
-	param set MC_ATT_I 0.0
+	param set MC_ROLL_P 5.0
+	param set MC_ROLLRATE_P 0.17
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.006
+	param set MC_PITCH_P 5.0
+	param set MC_PITCHRATE_P 0.17
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.006
 	param set MC_YAW_P 0.5
-	param set MC_YAW_I 0.15
-	param set MC_ATTRATE_P 0.17
-	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_D 0.006
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.0
 	param set MC_YAWRATE_D 0.0
diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
index a3bcb63eb..6c9cb6983 100644
--- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
@@ -10,13 +10,15 @@ then
 	#
 	# Default parameters for this platform
 	#
-	param set MC_ATT_P 9.0
-	param set MC_ATT_I 0.0
+	param set MC_ROLL_P 9.0
+	param set MC_ROLLRATE_P 0.13
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.004
+	param set MC_PITCH_P 9.0
+	param set MC_PITCHRATE_P 0.13
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.004
 	param set MC_YAW_P 0.5
-	param set MC_YAW_I 0.15
-	param set MC_ATTRATE_P 0.13
-	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_D 0.004
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.0
 	param set MC_YAWRATE_D 0.0
diff --git a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
index 2d497374a..84e2bc5d4 100644
--- a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
+++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
@@ -5,38 +5,6 @@
 # Maintainers: Anton Babushkin <anton.babushkin@me.com>
 #
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ATT_P 7.0
-	param set MC_ATT_I 0.0
-	param set MC_YAW_P 2.0
-	param set MC_YAW_I 0.0
-	param set MC_ATTRATE_P 0.12
-	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_D 0.004
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0.005
-	
-	param set MPC_TILT_MAX 1.0
-	param set MPC_THR_MAX 1.0
-	param set MPC_THR_MIN 0.1
-	param set MPC_XY_P 1.0
-	param set MPC_XY_VEL_D 0.01
-	param set MPC_XY_VEL_I 0.02
-	param set MPC_XY_VEL_MAX 5
-	param set MPC_XY_VEL_P 0.1
-	param set MPC_Z_P 1.0
-	param set MPC_Z_VEL_D 0.0
-	param set MPC_Z_VEL_I 0.02
-	param set MPC_Z_VEL_MAX 3
-	param set MPC_Z_VEL_P 0.1
-fi
+sh /etc/init.d/4001_quad_x
 
 set HIL yes
-
-set VEHICLE_TYPE mc
-set MIXER FMU_quad_x
diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox_pwm b/ROMFS/px4fmu_common/init.d/12001_octo_cox
index 5f3cec4e0..2bea6d489 100644
--- a/ROMFS/px4fmu_common/init.d/12001_octo_cox_pwm
+++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox
@@ -10,15 +10,15 @@ then
 	#
 	# Default parameters for this platform
 	#
-	param set MC_ATT_P 7.0
-	param set MC_ATT_I 0.0
-	param set MC_ATT_D 0.0
-	param set MC_ATTRATE_P 0.12
-	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_D 0.004
-	param set MC_YAWPOS_P 2.0
-	param set MC_YAWPOS_I 0.0
-	param set MC_YAWPOS_D 0.0
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.12
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.004
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.12
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.004
+	param set MC_YAW_P 2.0
 	param set MC_YAWRATE_P 0.3
 	param set MC_YAWRATE_I 0.2
 	param set MC_YAWRATE_D 0.005
diff --git a/ROMFS/px4fmu_common/init.d/4001_quad_x b/ROMFS/px4fmu_common/init.d/4001_quad_x
new file mode 100644
index 000000000..ca4694d81
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/4001_quad_x
@@ -0,0 +1,52 @@
+#!nsh
+#
+# Generic 10” Quad X geometry
+#
+# Maintainers: Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
+#
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	#
+	# Default parameters for this platform
+	#
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.12
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.004
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.12
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.004
+	param set MC_YAW_P 2.0
+	param set MC_YAWRATE_P 0.3
+	param set MC_YAWRATE_I 0.2
+	param set MC_YAWRATE_D 0.005
+	
+	param set MPC_THR_MAX 1.0
+	param set MPC_THR_MIN 0.1
+	param set MPC_XY_P 1.0
+	param set MPC_XY_VEL_P 0.1
+	param set MPC_XY_VEL_I 0.02
+	param set MPC_XY_VEL_D 0.01
+	param set MPC_XY_VEL_MAX 5
+	param set MPC_XY_FF 0.5
+	param set MPC_Z_P 1.0
+	param set MPC_Z_VEL_P 0.1
+	param set MPC_Z_VEL_I 0.02
+	param set MPC_Z_VEL_D 0.0
+	param set MPC_Z_VEL_MAX 3
+	param set MPC_Z_FF 0.5
+	param set MPC_TILT_MAX 1.0
+	param set MPC_LAND_SPEED 1.0
+	param set MPC_LAND_TILT 0.3
+fi
+
+set VEHICLE_TYPE mc
+set MIXER FMU_quad_x
+
+set PWM_OUTPUTS 1234
+set PWM_RATE 400
+set PWM_DISARMED 900
+set PWM_MIN 1000
+set PWM_MAX 2000
diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone
deleted file mode 100644
index f6f09ac22..000000000
--- a/ROMFS/px4fmu_common/init.d/4008_ardrone
+++ /dev/null
@@ -1,57 +0,0 @@
-#!nsh
-
-echo "[init] 08_ardrone: PX4FMU on PX4IOAR carrier board"
- 
-#
-# Load default params for this platform
-#
-if param compare SYS_AUTOCONFIG 1
-then
-	# Set all params here, then disable autoconfig
-	param set MC_ATTRATE_D 0
-	param set MC_ATTRATE_I 0
-	param set MC_ATTRATE_P 0.13
-	param set MC_ATT_D 0
-	param set MC_ATT_I 0.3
-	param set MC_ATT_P 5
-	param set MC_YAWPOS_D 0.1
-	param set MC_YAWPOS_I 0.15
-	param set MC_YAWPOS_P 1
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_I 0
-	param set MC_YAWRATE_P 0.15
-
-	param set SYS_AUTOCONFIG 0
-	param save
-fi
-
-#
-# Force some key parameters to sane values
-# MAV_TYPE     2 = quadrotor
-#
-param set MAV_TYPE 2
-param set BAT_V_SCALING 0.008381
-
-#
-# Start MAVLink
-#
-mavlink start -d /dev/ttyS0 -b 57600
-usleep 5000
-
-#
-# Configure PX4FMU for operation with PX4IOAR
-#
-fmu mode_gpio_serial
- 
-#
-# Fire up the AR.Drone interface.
-#
-ardrone_interface start -d /dev/ttyS1
- 
-#
-# Start common for all multirotors apps
-#
-sh /etc/init.d/rc.multirotor
- 
-# Exit, because /dev/ttyS0 is needed for MAVLink
-exit
diff --git a/ROMFS/px4fmu_common/init.d/4009_ardrone_flow b/ROMFS/px4fmu_common/init.d/4009_ardrone_flow
deleted file mode 100644
index e2cb8833d..000000000
--- a/ROMFS/px4fmu_common/init.d/4009_ardrone_flow
+++ /dev/null
@@ -1,83 +0,0 @@
-#!nsh
-
-echo "[init] 09_ardrone_flow: PX4FMU on PX4IOAR carrier board with PX4FLOW"
-
-#
-# Load default params for this platform
-#
-if param compare SYS_AUTOCONFIG 1
-then
-	# Set all params here, then disable autoconfig
-	param set MC_ATTRATE_D 0
-	param set MC_ATTRATE_I 0
-	param set MC_ATTRATE_P 0.13
-	param set MC_ATT_D 0
-	param set MC_ATT_I 0.3
-	param set MC_ATT_P 5
-	param set MC_YAWPOS_D 0.1
-	param set MC_YAWPOS_I 0.15
-	param set MC_YAWPOS_P 1
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_I 0
-	param set MC_YAWRATE_P 0.15
-
-	param set SYS_AUTOCONFIG 0
-	param save
-fi
-
-#
-# Force some key parameters to sane values
-# MAV_TYPE     2 = quadrotor
-#
-param set MAV_TYPE 2
-param set BAT_V_SCALING 0.008381
-
-#
-# Start MAVLink and MAVLink Onboard (PX4FLOW Sensor)
-#
-mavlink start -d /dev/ttyS0 -b 57600
-mavlink_onboard start -d /dev/ttyS3 -b 115200
-usleep 5000
-
-#
-# Configure PX4FMU for operation with PX4IOAR
-#
-fmu mode_gpio_serial
-
-#
-# Fire up the AR.Drone interface.
-#
-ardrone_interface start -d /dev/ttyS1
- 
-#
-# Start the sensors.
-#
-sh /etc/init.d/rc.sensors
-
-#
-# Start the attitude estimator
-#
-attitude_estimator_ekf start
-
-#
-# Start the position estimator
-#
-flow_position_estimator start
-
-#
-# Fire up the multi rotor attitude controller
-#
-mc_att_control_vector start
-
-#
-# Fire up the flow position controller
-#
-flow_position_control start
-
-#
-# Fire up the flow speed controller
-#
-flow_speed_control start
- 
-# Exit, because /dev/ttyS0 is needed for MAVLink
-exit
diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330
index e0cf92d97..6acdc9f81 100644
--- a/ROMFS/px4fmu_common/init.d/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330
@@ -10,13 +10,15 @@ then
 	#
 	# Default parameters for this platform
 	#
-	param set MC_ATT_P 7.0
-	param set MC_ATT_I 0.0
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.12
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.004
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.12
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.004
 	param set MC_YAW_P 2.8
-	param set MC_YAW_I 0.0
-	param set MC_ATTRATE_P 0.12
-	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_D 0.004
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.05
 	param set MC_YAWRATE_D 0.0
diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450
index ced69783d..cca635e66 100644
--- a/ROMFS/px4fmu_common/init.d/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450
@@ -10,13 +10,15 @@ then
 	#
 	# Default parameters for this platform
 	#
-	param set MC_ATT_P 7.0
-	param set MC_ATT_I 0.0
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.12
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.004
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.12
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.004
 	param set MC_YAW_P 2.0
-	param set MC_YAW_I 0.0
-	param set MC_ATTRATE_P 0.12
-	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_D 0.004
 	param set MC_YAWRATE_P 0.3
 	param set MC_YAWRATE_I 0.2
 	param set MC_YAWRATE_D 0.005
diff --git a/ROMFS/px4fmu_common/init.d/4012_hk_x550 b/ROMFS/px4fmu_common/init.d/4012_hk_x550
index e1423e008..4fea828a7 100644
--- a/ROMFS/px4fmu_common/init.d/4012_hk_x550
+++ b/ROMFS/px4fmu_common/init.d/4012_hk_x550
@@ -10,13 +10,15 @@ then
 	#
 	# Default parameters for this platform
 	#
-	param set MC_ATT_P 5.5
-	param set MC_ATT_I 0
+	param set MC_ROLL_P 5.5
+	param set MC_ROLLRATE_P 0.14
+	param set MC_ROLLRATE_I 0
+	param set MC_ROLLRATE_D 0.006
+	param set MC_PITCH_P 5.5
+	param set MC_PITCHRATE_P 0.14
+	param set MC_PITCHRATE_I 0
+	param set MC_PITCHRATE_D 0.006
 	param set MC_YAW_P 0.6
-	param set MC_YAW_I 0
-	param set MC_ATTRATE_P 0.14
-	param set MC_ATTRATE_I 0
-	param set MC_ATTRATE_D 0.006
 	param set MC_YAWRATE_P 0.08
 	param set MC_YAWRATE_I 0
 	param set MC_YAWRATE_D 0
diff --git a/ROMFS/px4fmu_common/init.d/5001_quad_+ b/ROMFS/px4fmu_common/init.d/5001_quad_+
new file mode 100644
index 000000000..7f5a6fc07
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/5001_quad_+
@@ -0,0 +1,10 @@
+#!nsh
+#
+# Generic 10” Quad + geometry
+#
+# Maintainers: Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
+#
+
+sh /etc/init.d/4001_quad_x
+
+set MIXER FMU_quad_+
diff --git a/ROMFS/px4fmu_common/init.d/5001_quad_+_pwm b/ROMFS/px4fmu_common/init.d/5001_quad_+_pwm
deleted file mode 100644
index 2e5f6ca4f..000000000
--- a/ROMFS/px4fmu_common/init.d/5001_quad_+_pwm
+++ /dev/null
@@ -1,37 +0,0 @@
-#!nsh
-#
-# Generic 10” Quad + geometry
-#
-# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
-#
-
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ATT_P 7.0
-	param set MC_ATT_I 0.0
-	param set MC_ATT_D 0.0
-	param set MC_ATTRATE_P 0.12
-	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_D 0.004
-	param set MC_YAWPOS_P 2.0
-	param set MC_YAWPOS_I 0.0
-	param set MC_YAWPOS_D 0.0
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0.005
-	
-	# TODO add default MPC parameters
-fi
-
-set VEHICLE_TYPE mc
-set MIXER FMU_quad_+
-
-set PWM_OUTPUTS 1234
-set PWM_RATE 400
-# DJI ESC range
-set PWM_DISARMED 900
-set PWM_MIN 1200
-set PWM_MAX 1900
diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x b/ROMFS/px4fmu_common/init.d/6001_hexa_x
new file mode 100644
index 000000000..e72e15dd4
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x
@@ -0,0 +1,12 @@
+#!nsh
+#
+# Generic 10” Hexa X geometry
+#
+# Maintainers: Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
+#
+
+sh /etc/init.d/4001_quad_x
+
+set MIXER FMU_hexa_x
+
+set PWM_OUTPUTS 123456
diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x_pwm b/ROMFS/px4fmu_common/init.d/6001_hexa_x_pwm
deleted file mode 100644
index ddec8f36e..000000000
--- a/ROMFS/px4fmu_common/init.d/6001_hexa_x_pwm
+++ /dev/null
@@ -1,37 +0,0 @@
-#!nsh
-#
-# Generic 10” Hexa X geometry
-#
-# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
-#
-
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ATT_P 7.0
-	param set MC_ATT_I 0.0
-	param set MC_ATT_D 0.0
-	param set MC_ATTRATE_P 0.12
-	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_D 0.004
-	param set MC_YAWPOS_P 2.0
-	param set MC_YAWPOS_I 0.0
-	param set MC_YAWPOS_D 0.0
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0.005
-	
-	# TODO add default MPC parameters
-fi
-
-set VEHICLE_TYPE mc
-set MIXER FMU_hexa_x
-
-set PWM_OUTPUTS 1234
-set PWM_RATE 400
-# DJI ESC range
-set PWM_DISARMED 900
-set PWM_MIN 1200
-set PWM_MAX 1900
diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/7001_hexa_+
new file mode 100644
index 000000000..dade0630d
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+
@@ -0,0 +1,10 @@
+#!nsh
+#
+# Generic 10” Hexa + geometry
+#
+# Maintainers: Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
+#
+
+sh /etc/init.d/6001_hexa_x
+
+set MIXER FMU_hexa_+
diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+_pwm b/ROMFS/px4fmu_common/init.d/7001_hexa_+_pwm
deleted file mode 100644
index 106e0fb54..000000000
--- a/ROMFS/px4fmu_common/init.d/7001_hexa_+_pwm
+++ /dev/null
@@ -1,37 +0,0 @@
-#!nsh
-#
-# Generic 10” Hexa + geometry
-#
-# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
-#
-
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ATT_P 7.0
-	param set MC_ATT_I 0.0
-	param set MC_ATT_D 0.0
-	param set MC_ATTRATE_P 0.12
-	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_D 0.004
-	param set MC_YAWPOS_P 2.0
-	param set MC_YAWPOS_I 0.0
-	param set MC_YAWPOS_D 0.0
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0.005
-	
-	# TODO add default MPC parameters
-fi
-
-set VEHICLE_TYPE mc
-set MIXER FMU_hexa_+
-
-set PWM_OUTPUTS 1234
-set PWM_RATE 400
-# DJI ESC range
-set PWM_DISARMED 900
-set PWM_MIN 1200
-set PWM_MAX 1900
diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x b/ROMFS/px4fmu_common/init.d/8001_octo_x
new file mode 100644
index 000000000..af632ed90
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/8001_octo_x
@@ -0,0 +1,12 @@
+#!nsh
+#
+# Generic 10” Octo X geometry
+#
+# Maintainers: Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
+#
+
+sh /etc/init.d/4001_quad_x
+
+set MIXER FMU_octo_x
+
+set PWM_OUTPUTS 12345678
diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x_pwm b/ROMFS/px4fmu_common/init.d/8001_octo_x_pwm
deleted file mode 100644
index f0eea339b..000000000
--- a/ROMFS/px4fmu_common/init.d/8001_octo_x_pwm
+++ /dev/null
@@ -1,37 +0,0 @@
-#!nsh
-#
-# Generic 10” Octo X geometry
-#
-# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
-#
-
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ATT_P 7.0
-	param set MC_ATT_I 0.0
-	param set MC_ATT_D 0.0
-	param set MC_ATTRATE_P 0.12
-	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_D 0.004
-	param set MC_YAWPOS_P 2.0
-	param set MC_YAWPOS_I 0.0
-	param set MC_YAWPOS_D 0.0
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0.005
-	
-	# TODO add default MPC parameters
-fi
-
-set VEHICLE_TYPE mc
-set MIXER FMU_octo_x
-
-set PWM_OUTPUTS 1234
-set PWM_RATE 400
-# DJI ESC range
-set PWM_DISARMED 900
-set PWM_MIN 1200
-set PWM_MAX 1900
diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+ b/ROMFS/px4fmu_common/init.d/9001_octo_+
new file mode 100644
index 000000000..9bf5e0932
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/9001_octo_+
@@ -0,0 +1,10 @@
+#!nsh
+#
+# Generic 10” Octo + geometry
+#
+# Maintainers: Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
+#
+
+sh /etc/init.d/8001_octo_x
+
+set MIXER FMU_octo_+
diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+_pwm b/ROMFS/px4fmu_common/init.d/9001_octo_+_pwm
deleted file mode 100644
index 992a7aeba..000000000
--- a/ROMFS/px4fmu_common/init.d/9001_octo_+_pwm
+++ /dev/null
@@ -1,37 +0,0 @@
-#!nsh
-#
-# Generic 10” Octo + geometry
-#
-# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
-#
-
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ATT_P 7.0
-	param set MC_ATT_I 0.0
-	param set MC_ATT_D 0.0
-	param set MC_ATTRATE_P 0.12
-	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_D 0.004
-	param set MC_YAWPOS_P 2.0
-	param set MC_YAWPOS_I 0.0
-	param set MC_YAWPOS_D 0.0
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0.005
-	
-	# TODO add default MPC parameters
-fi
-
-set VEHICLE_TYPE mc
-set MIXER FMU_octo_+
-
-set PWM_OUTPUTS 1234
-set PWM_RATE 400
-# DJI ESC range
-set PWM_DISARMED 900
-set PWM_MIN 1200
-set PWM_MAX 1900
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index 34da2dfef..030806fd7 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -101,14 +101,9 @@ fi
 # Quad X
 #
 
-if param compare SYS_AUTOSTART 4008 8
+if param compare SYS_AUTOSTART 4001
 then
-	#sh /etc/init.d/4008_ardrone
-fi
-
-if param compare SYS_AUTOSTART 4009 9
-then
-	#sh /etc/init.d/4009_ardrone_flow
+	sh /etc/init.d/4001_quad_x
 fi
 
 if param compare SYS_AUTOSTART 4010 10
@@ -132,7 +127,7 @@ fi
 
 if param compare SYS_AUTOSTART 5001
 then
-	sh /etc/init.d/5001_quad_+_pwm
+	sh /etc/init.d/5001_quad_+
 fi
 
 #
@@ -141,7 +136,7 @@ fi
 
 if param compare SYS_AUTOSTART 6001
 then
-	sh /etc/init.d/6001_hexa_x_pwm
+	sh /etc/init.d/6001_hexa_x
 fi
 
 #
@@ -150,7 +145,7 @@ fi
 
 if param compare SYS_AUTOSTART 7001
 then
-	sh /etc/init.d/7001_hexa_+_pwm
+	sh /etc/init.d/7001_hexa_+
 fi
 
 #
@@ -159,7 +154,7 @@ fi
 
 if param compare SYS_AUTOSTART 8001
 then
-	sh /etc/init.d/8001_octo_x_pwm
+	sh /etc/init.d/8001_octo_x
 fi
 
 #
@@ -168,7 +163,7 @@ fi
 
 if param compare SYS_AUTOSTART 9001
 then
-	sh /etc/init.d/9001_octo_+_pwm
+	sh /etc/init.d/9001_octo_+
 fi
 
 #
@@ -191,5 +186,5 @@ fi
 
 if param compare SYS_AUTOSTART 12001
 then
-	sh /etc/init.d/12001_octo_cox_pwm
+	sh /etc/init.d/12001_octo_cox
 fi