4 files changed, 10 insertions, 2 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index fab2a7f18..e6de64054 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -10,7 +10,7 @@ then
 	param set NAV_LAND_ALT 90
 	param set NAV_RTL_ALT 100
 	param set NAV_RTL_LAND_T -1
-	param set NAV_ACCEPT_RAD 50
+	param set NAV_ACC_RAD 50
 	param set FW_T_HRATE_P 0.01
 	param set FW_T_RLL2THR 15
 	param set FW_T_SRATE_P 0.01
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
index 307a64c4d..24d9650a0 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -41,7 +41,9 @@ then
 	param set PE_POSNE_NOISE 0.5
 	param set PE_POSD_NOISE 1.0
 
-	param set NAV_ACCEPT_RAD 2.0
+	param set NAV_ACC_RAD 2.0
+	param set RTL_RETURN_ALT 30.0
+	param set RTL_DESCEND_ALT 10.0
 fi
 
 set PWM_RATE 400
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 973db9017..ad84f44f5 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -52,6 +52,10 @@ then
 	if lsm303d start
 	then
 	fi
+
+	if ms5611 -X start
+	then
+	fi
 fi
 
 if meas_airspeed start
diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb
index b3de8e590..2dfe11ce6 100644
--- a/ROMFS/px4fmu_common/init.d/rc.usb
+++ b/ROMFS/px4fmu_common/init.d/rc.usb
@@ -26,6 +26,8 @@ usleep 100000
 mavlink stream -d /dev/ttyACM0 -s POSITION_TARGET_GLOBAL_INT -r 10
 usleep 100000
 mavlink stream -d /dev/ttyACM0 -s LOCAL_POSITION_NED -r 30
+usleep 100000
+mavlink stream -d /dev/ttyACM0 -s MANUAL_CONTROL -r 5
 
 # Exit shell to make it available to MAVLink
 exit