From 4ea3306ec2e88600c4c82e1cfc238904dbc41bb9 Mon Sep 17 00:00:00 2001
From: mcsauder <mcsauder@gmail.com>
Date: Wed, 22 Aug 2018 19:17:26 -0600
Subject: [PATCH] Set parameters directly rather than script variables in VTOL
 airframe config files and alphabetize lists.

---
 .../init.d/1000_rc_fw_easystar.hil            |  3 +
 .../init.d/10017_steadidrone_qu4d             |  4 +-
 .../px4fmu_common/init.d/10018_tbs_endurance  |  1 +
 .../init.d/1002_standard_vtol.hil             |  8 +-
 .../init.d/13000_generic_vtol_standard        |  5 +-
 .../init.d/13001_caipirinha_vtol              |  7 +-
 ROMFS/px4fmu_common/init.d/13002_firefly6     | 16 ++--
 .../init.d/13003_quad_tailsitter              | 10 ++-
 .../init.d/13004_quad+_tailsitter             |  8 +-
 .../init.d/13005_vtol_AAERT_quad              | 14 ++--
 .../init.d/13006_vtol_standard_delta          | 11 +--
 .../init.d/13007_vtol_AAVVT_quad              | 11 +--
 ROMFS/px4fmu_common/init.d/13008_QuadRanger   | 29 +++----
 .../init.d/13009_vtol_spt_ranger              | 48 +++++------
 ROMFS/px4fmu_common/init.d/13010_claire       | 22 +++--
 ROMFS/px4fmu_common/init.d/13012_convergence  | 38 ++++-----
 ROMFS/px4fmu_common/init.d/13013_deltaquad    | 80 ++++++++++---------
 ROMFS/px4fmu_common/init.d/15001_coax_heli    | 27 ++++---
 ROMFS/px4fmu_common/init.d/16001_helicopter   | 10 +--
 .../px4fmu_common/init.d/2100_standard_plane  |  4 +-
 ROMFS/px4fmu_common/init.d/24001_dodeca_cox   |  1 +
 ROMFS/px4fmu_common/init.d/3033_wingwing      | 10 +--
 ROMFS/px4fmu_common/init.d/3034_fx79          |  3 +-
 .../init.d/3037_parrot_disco_mod              |  2 +-
 .../px4fmu_common/init.d/3100_tbs_caipirinha  | 25 +++---
 ROMFS/px4fmu_common/init.d/4002_quad_x_mount  |  6 +-
 ROMFS/px4fmu_common/init.d/4003_qavr5         |  4 +-
 ROMFS/px4fmu_common/init.d/4004_H4_680mm      | 11 ++-
 ROMFS/px4fmu_common/init.d/4009_qav250        | 16 ++--
 ROMFS/px4fmu_common/init.d/4010_dji_f330      |  1 +
 ROMFS/px4fmu_common/init.d/4011_dji_f450      |  1 +
 ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb  |  1 +
 ROMFS/px4fmu_common/init.d/4040_reaper        | 12 +--
 ROMFS/px4fmu_common/init.d/4051_s250aq        | 11 ++-
 .../px4fmu_common/init.d/4060_dji_matrice_100 |  4 +-
 ROMFS/px4fmu_common/init.d/4070_aerofc        | 17 ++--
 ROMFS/px4fmu_common/init.d/4080_zmr250        | 11 +--
 ROMFS/px4fmu_common/init.d/4090_nanomind      |  4 +-
 ROMFS/px4fmu_common/init.d/4900_crazyflie     | 56 ++++++++-----
 .../init.d/50000_generic_ground_vehicle       | 46 +++++------
 .../init.d/50002_traxxas_stampede_2wd         | 26 +++---
 ROMFS/px4fmu_common/init.d/rc.mc_defaults     |  2 +-
 ROMFS/px4fmu_common/init.d/rc.ugv_defaults    |  2 +-
 ROMFS/px4fmu_common/init.d/rc.vtol_defaults   |  4 +-
 44 files changed, 337 insertions(+), 295 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
index 8cbf81b496..117b1b84a2 100644
--- a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
+++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
@@ -20,6 +20,7 @@ sh /etc/init.d/rc.fw_defaults
 if [ $AUTOCNF == yes ]
 then
 	param set BAT_N_CELLS 3
+
 	param set FW_AIRSPD_MAX 20
 	param set FW_AIRSPD_MIN 12
 	param set FW_AIRSPD_TRIM 14
@@ -41,8 +42,10 @@ then
 	param set FW_RR_I 0.1
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.3
+
 	param set RWTO_TKOFF 1
 fi
 
 param set SYS_HITL 1
+
 set MIXER AERT
diff --git a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
index 0284bbaf5f..8738498d4d 100644
--- a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
+++ b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
@@ -24,6 +24,8 @@ sh /etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF == yes ]
 then
+	param set BAT_N_CELLS 4
+
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.13
 	param set MC_ROLLRATE_I 0.05
@@ -36,8 +38,6 @@ then
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
-
-	param set BAT_N_CELLS 4
 fi
 
 set MIXER quad_w
diff --git a/ROMFS/px4fmu_common/init.d/10018_tbs_endurance b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance
index 5447911dd1..df8ee39c6c 100644
--- a/ROMFS/px4fmu_common/init.d/10018_tbs_endurance
+++ b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance
@@ -41,6 +41,7 @@ then
 	param set MC_YAWRATE_D 0.0
 
 	param set MPC_XY_VEL_MAX 2
+
 	param set PWM_MIN 1080
 fi
 
diff --git a/ROMFS/px4fmu_common/init.d/1002_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/1002_standard_vtol.hil
index 7d728e4965..9243736711 100644
--- a/ROMFS/px4fmu_common/init.d/1002_standard_vtol.hil
+++ b/ROMFS/px4fmu_common/init.d/1002_standard_vtol.hil
@@ -27,8 +27,6 @@ then
 	param set FW_AIRSPD_MIN 14
 	param set FW_AIRSPD_TRIM 16
 
-	param set MAV_TYPE 22
-
 	param set MC_PITCH_P 6
 	param set MC_PITCHRATE_P 0.2
 	param set MC_ROLL_P 6
@@ -66,8 +64,10 @@ then
 	param set VT_TYPE 2
 fi
 
+param set SYS_HITL 1
+
+set MAV_TYPE 22
+
 set MIXER standard_vtol_hitl
 
 set PWM_OUT 1234
-
-param set SYS_HITL 1
diff --git a/ROMFS/px4fmu_common/init.d/13000_generic_vtol_standard b/ROMFS/px4fmu_common/init.d/13000_generic_vtol_standard
index 7665383e31..284b531458 100644
--- a/ROMFS/px4fmu_common/init.d/13000_generic_vtol_standard
+++ b/ROMFS/px4fmu_common/init.d/13000_generic_vtol_standard
@@ -22,9 +22,11 @@ sh /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF == yes ]
 then
+	param set PWM_AUX_DIS5 950
+	param set PWM_RATE 400
+
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
-	param set PWM_AUX_DIS5 950
 fi
 
 set MAV_TYPE 22
@@ -33,4 +35,3 @@ set MIXER quad_x
 set MIXER_AUX vtol_AAERT
 
 set PWM_OUT 1234
-set PWM_RATE 400
diff --git a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
index b266012481..006ea1e3e3 100644
--- a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
+++ b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
@@ -33,13 +33,14 @@ then
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
 
-	param set VT_MOT_COUNT 2
 	param set VT_IDLE_PWM_MC  1080
-	param set VT_TYPE 0
-	param set MAV_TYPE 19
 	param set VT_ELEV_MC_LOCK 0
+	param set VT_MOT_COUNT 2
+	param set VT_TYPE 0
 fi
 
+set MAV_TYPE 19
+
 set MIXER caipirinha_vtol
 
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/13002_firefly6 b/ROMFS/px4fmu_common/init.d/13002_firefly6
index bcaa78048c..9be4a8ca68 100644
--- a/ROMFS/px4fmu_common/init.d/13002_firefly6
+++ b/ROMFS/px4fmu_common/init.d/13002_firefly6
@@ -38,20 +38,20 @@ then
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
 
-	param set VT_TILT_MC 0.08
-	param set VT_TILT_TRANS 0.5
-	param set VT_TILT_FW 0.9
+	param set PWM_RATE 400
 
-	param set VT_MOT_COUNT 6
 	param set VT_FW_MOT_OFFID 34
 	param set VT_IDLE_PWM_MC 1080
+	param set VT_MOT_COUNT 6
+	param set VT_TILT_MC 0.08
+	param set VT_TILT_TRANS 0.5
+	param set VT_TILT_FW 0.9
 	param set VT_TYPE 1
 fi
 
-set MIXER firefly6
-set PWM_OUT 12345678
-set PWM_RATE 400
+set MAV_TYPE 21
 
+set MIXER firefly6
 set MIXER_AUX firefly6
 
-set MAV_TYPE 21
+set PWM_OUT 12345678
diff --git a/ROMFS/px4fmu_common/init.d/13003_quad_tailsitter b/ROMFS/px4fmu_common/init.d/13003_quad_tailsitter
index a96cb3ff73..67bf1f49a5 100644
--- a/ROMFS/px4fmu_common/init.d/13003_quad_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/13003_quad_tailsitter
@@ -12,15 +12,17 @@ sh /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF == yes ]
 then
+	param set PWM_MAX 2000
+	param set PWM_RATE 400
+
 	param set VT_MOT_COUNT 4
 	param set VT_IDLE_PWM_MC  1080
 	param set VT_TYPE 0
 	param set VT_ELEV_MC_LOCK 1
 fi
 
+set MAV_TYPE 20
+
 set MIXER quad_x_vtol
 
-set PWM_OUT 1234
-set PWM_MAX 2000
-set PWM_RATE 400
-set MAV_TYPE 20
+set PWM_OUT 1234
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter b/ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter
index 26f2a42a07..b5558dcd99 100644
--- a/ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter
@@ -23,15 +23,17 @@ sh /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF == yes ]
 then
+	param set PWM_MAX 2000
+	param set PWM_RATE 400
+
 	param set VT_MOT_COUNT 4
 	param set VT_IDLE_PWM_MC  1080
 	param set VT_TYPE 0
 	param set VT_ELEV_MC_LOCK 1
 fi
 
+set MAV_TYPE 20
+
 set MIXER quad_+_vtol
 
 set PWM_OUT 1234
-set PWM_MAX 2000
-set PWM_RATE 400
-set MAV_TYPE 20
diff --git a/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad b/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad
index 6fac177b70..450f55f7c8 100644
--- a/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad
+++ b/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad
@@ -22,11 +22,9 @@ sh /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF == yes ]
 then
-	param set VT_TYPE 2
-	param set VT_MOT_COUNT 4
-	param set VT_F_TRANS_THR 0.75
-	param set VT_ARSP_TRANS 12
-	param set VT_ARSP_BLEND 6
+	param set PWM_AUX_DIS5 950
+
+	param set PWM_RATE 400
 
 	param set MC_ROLL_P 6.0
 	param set MC_ROLLRATE_P 0.17
@@ -56,11 +54,12 @@ then
 	param set FW_RR_P 0.05
 	param set FW_THR_CRUISE 0.75
 
+	param set VT_ARSP_BLEND 6
+	param set VT_ARSP_TRANS 12
+	param set VT_F_TRANS_THR 0.75
 	param set VT_MOT_COUNT 4
 	param set VT_IDLE_PWM_MC 1080
 	param set VT_TYPE 2
-
-	param set PWM_AUX_DIS5 950
 fi
 
 set MAV_TYPE 22
@@ -69,4 +68,3 @@ set MIXER quad_x
 set MIXER_AUX vtol_AAERT
 
 set PWM_OUT 1234
-set PWM_RATE 400
diff --git a/ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta b/ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta
index f9833f417d..62563f114a 100644
--- a/ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta
+++ b/ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta
@@ -20,10 +20,6 @@ sh /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF == yes ]
 then
-	param set VT_TYPE 2
-	param set VT_MOT_COUNT 4
-	param set VT_F_TRANS_THR 0.75
-
 	param set MC_ROLL_P 6.5
 	param set MC_ROLLRATE_P 0.15
 	param set MC_ROLLRATE_I 0.01
@@ -46,11 +42,13 @@ then
 	param set MPC_XY_VEL_P 0.1
 	param set MPC_ACC_HOR_MAX 2.0
 
+	param set PWM_AUX_DIS3 950
+	param set PWM_RATE 400
+
 	param set VT_MOT_COUNT 4
+	param set VT_F_TRANS_THR 0.75
 	param set VT_IDLE_PWM_MC 1080
 	param set VT_TYPE 2
-
-	param set PWM_AUX_DIS3 950
 fi
 
 set MAV_TYPE 22
@@ -59,4 +57,3 @@ set MIXER quad_x
 set MIXER_AUX vtol_delta
 
 set PWM_OUT 1234
-set PWM_RATE 400
diff --git a/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad b/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad
index 909459ac60..b482a5b252 100644
--- a/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad
+++ b/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad
@@ -12,10 +12,6 @@ sh /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF == yes ]
 then
-	param set VT_TYPE 2
-	param set VT_MOT_COUNT 4
-	param set VT_F_TRANS_THR 0.75
-
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.15
 	param set MC_ROLLRATE_I 0.002
@@ -34,11 +30,13 @@ then
 	param set MC_YAWRATE_MAX 40
 	param set MC_YAWRAUTO_MAX 40
 
+	param set PWM_AUX_DIS5 950
+	param set PWM_RATE 400
+
+	param set VT_F_TRANS_THR 0.75
 	param set VT_MOT_COUNT 4
 	param set VT_IDLE_PWM_MC 1080
 	param set VT_TYPE 2
-
-	param set PWM_AUX_DIS5 950
 fi
 
 set MAV_TYPE 22
@@ -47,4 +45,3 @@ set MIXER quad_x
 set MIXER_AUX vtol_AAVVT
 
 set PWM_OUT 1234
-set PWM_RATE 400
diff --git a/ROMFS/px4fmu_common/init.d/13008_QuadRanger b/ROMFS/px4fmu_common/init.d/13008_QuadRanger
index e3b73538ac..23e7a577b1 100644
--- a/ROMFS/px4fmu_common/init.d/13008_QuadRanger
+++ b/ROMFS/px4fmu_common/init.d/13008_QuadRanger
@@ -12,12 +12,13 @@ sh /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF == yes ]
 then
-	param set VT_TYPE 2
-	param set VT_MOT_COUNT 4
-	param set VT_F_TRANS_THR 0.75
+	param set FW_THR_CRUISE 65.0
+	param set FW_PR_P 0.08
+	param set FW_PR_FF 0.5
+	param set FW_RR_P 0.05
+	param set FW_RR_FF 0.6
 
-	param set PWM_AUX_REV1 1
-	param set PWM_AUX_REV2 1
+	param set MIS_YAW_TMT 10
 
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.15
@@ -42,23 +43,18 @@ then
 	param set MPC_TKO_SPEED 1.5
 	param set MPC_LAND_SPEED 0.8
 
-	param set FW_THR_CRUISE 65.0
-	param set FW_PR_P 0.08
-	param set FW_PR_FF 0.5
-	param set FW_RR_P 0.05
-	param set FW_RR_FF 0.6
-
-	param set MIS_YAW_TMT 10
+	param set PWM_AUX_DIS5 950
+	param set PWM_AUX_REV1 1
+	param set PWM_AUX_REV2 1
+	param set PWM_RATE 400
 
 	param set VT_ARSP_TRANS 15.0
 	param set VT_ARSP_BLEND 8.0
 	param set VT_B_TRANS_DUR 4.0
-
-	param set VT_MOT_COUNT 4
+	param set VT_F_TRANS_THR 0.75
 	param set VT_IDLE_PWM_MC 1080
+	param set VT_MOT_COUNT 4
 	param set VT_TYPE 2
-
-	param set PWM_AUX_DIS5 950
 fi
 
 set MAV_TYPE 22
@@ -67,4 +63,3 @@ set MIXER quad_x
 set MIXER_AUX vtol_AAERT
 
 set PWM_OUT 1234
-set PWM_RATE 400
diff --git a/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger b/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger
index 64ab0ea1f0..e356db452a 100644
--- a/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger
+++ b/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger
@@ -12,16 +12,6 @@ sh /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF == yes ]
 then
-	param set VT_TYPE 2
-	param set VT_MOT_COUNT 4
-	param set VT_IDLE_PWM_MC 1180
-	param set MAV_TYPE    22
-	param set VT_ARSP_TRANS   15.0
-	param set VT_B_TRANS_DUR  4.0
-	param set VT_TRANS_MIN_TM 5.0
-	param set VT_F_TRANS_THR    0.6
-	param set VT_TRANS_TIMEOUT    30.0
-
 	param set FW_AIRSPD_MAX   22.0
 	param set FW_AIRSPD_MIN   14.0
 	param set FW_AIRSPD_TRIM  16.0
@@ -33,20 +23,19 @@ then
 	param set FW_RR_P 0.04
 	param set FW_R_RMAX   40.0
 
-	param set MC_PITCHRATE_D  0.004
-	param set MC_PITCHRATE_I  0.0
-	param set MC_PITCHRATE_MAX    60.0
-	param set MC_PITCHRATE_P  0.21
-	param set MC_PITCH_P  4.0
-	param set MC_ROLLRATE_D   0.004
-	param set MC_ROLLRATE_I   0.002
+	param set MC_PITCHRATE_D 0.004
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_MAX 60.0
+	param set MC_PITCHRATE_P 0.21
+	param set MC_PITCH_P 4.0
+	param set MC_ROLLRATE_D 0.004
+	param set MC_ROLLRATE_I 0.002
 	param set MC_ROLLRATE_MAX 60.0
-	param set MC_ROLLRATE_P   0.24
-	param set MC_ROLL_P   4.0
-	param set MC_YAWRATE_I    0.02
-	param set MC_YAWRATE_MAX  40.0
-	param set MC_YAWRATE_P    0.18
-	param set MC_YAWRATE_MAX  40.0
+	param set MC_ROLLRATE_P 0.24
+	param set MC_ROLL_P 4.0
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_MAX 40.0
+	param set MC_YAWRATE_P 0.18
 	param set MC_YAWRAUTO_MAX 40.0
 
 	param set MIS_TAKEOFF_ALT 2.5
@@ -76,6 +65,18 @@ then
 	param set PWM_AUX_REV4    1
 
 	param set PWM_AUX_DIS5 950
+
+	param set PWM_RATE 400
+
+	param set VT_ARSP_TRANS   15.0
+	param set VT_B_TRANS_DUR  4.0
+	param set VT_F_TRANS_THR    0.6
+	param set VT_IDLE_PWM_MC 1180
+	param set VT_MOT_COUNT 4
+	param set VT_TRANS_MIN_TM 5.0
+	param set VT_TRANS_TIMEOUT    30.0
+	param set VT_TYPE 2
+
 fi
 
 set MAV_TYPE 22
@@ -84,4 +85,3 @@ set MIXER quad_x
 set MIXER_AUX vtol_AAERT
 
 set PWM_OUT 1234
-set PWM_RATE 400
diff --git a/ROMFS/px4fmu_common/init.d/13010_claire b/ROMFS/px4fmu_common/init.d/13010_claire
index 15a0ce31e9..1b12d65d1b 100644
--- a/ROMFS/px4fmu_common/init.d/13010_claire
+++ b/ROMFS/px4fmu_common/init.d/13010_claire
@@ -14,14 +14,20 @@ sh /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF == yes ]
 then
-	param set VT_TYPE 1
-	param set VT_TILT_MC 0.08
-	param set VT_TILT_TRANS 0.5
-	param set VT_TILT_FW 0.9
+	param set PWM_AUX_DISARMED 1000
+	param set PWM_AUX_MAX 2000
+	param set PWM_AUX_MIN 1000
+	param set PWM_AUX_RATE 50
+
+	param set PWM_MAX 2000
+	param set PWM_RATE 400
 
 	param set VT_MOT_COUNT 4
 	param set VT_FW_MOT_OFFID 13
 	param set VT_IDLE_PWM_MC 1080
+	param set VT_TILT_FW 0.9
+	param set VT_TILT_MC 0.08
+	param set VT_TILT_TRANS 0.5
 	param set VT_TYPE 1
 fi
 
@@ -31,11 +37,3 @@ set MIXER claire
 set MIXER_AUX claire
 
 set PWM_OUT 1234
-set PWM_RATE 400
-set PWM_MAX 2000
-
-set PWM_AUX_RATE 50
-set PWM_AUX_RATE 123
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000
-set PWM_AUX_DISARMED 1000
diff --git a/ROMFS/px4fmu_common/init.d/13012_convergence b/ROMFS/px4fmu_common/init.d/13012_convergence
index 8859c7effa..3ea2cb95b7 100644
--- a/ROMFS/px4fmu_common/init.d/13012_convergence
+++ b/ROMFS/px4fmu_common/init.d/13012_convergence
@@ -21,22 +21,9 @@ sh /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF == yes ]
 then
-	param set VT_MOT_COUNT 3
-	param set VT_FW_MOT_OFFID 3
-	param set VT_IDLE_PWM_MC 1200
-	param set VT_TYPE 1
+	param set CBRK_AIRSPD_CHK 162128
 
-	param set VT_B_TRANS_DUR  1.0
-	param set VT_FW_DIFTHR_EN 1
-	param set VT_FW_DIFTHR_SC 0.17
-	param set VT_FW_PERM_STAB 0
-	param set VT_F_TRANS_DUR  1.2
-	param set VT_F_TR_OL_TM   4.0
-	param set VT_TILT_FW  1.0
-	param set VT_TILT_MC  0.0
-	param set VT_TILT_TRANS   0.45
-	param set VT_TRANS_MIN_TM 1.2
-	param set VT_TRANS_P2_DUR 1.3
+	param set FW_ARSP_MODE 2
 
 	param set FW_L1_PERIOD 17
 	param set FW_MAN_R_MAX 50.0
@@ -54,6 +41,7 @@ then
 	param set FW_RR_P 0.11
 	param set FW_YR_FF    0.3
 	param set FW_YR_P 0.05
+
 	param set MC_PITCHRATE_D  0.003
 	param set MC_PITCHRATE_P  0.15
 	param set MC_PITCH_P  6.0
@@ -69,10 +57,25 @@ then
 	param set MPC_TKO_SPEED 2.5
 	param set MPC_Z_VEL_MAX_UP 3.0
 
-	param set CBRK_AIRSPD_CHK 162128
-	param set FW_ARSP_MODE 2
+	param set PWM_RATE 400
 
 	param set SENS_BOARD_ROT 8
+	
+	param set VT_B_TRANS_DUR  1.0
+	param set VT_F_TRANS_DUR  1.2
+	param set VT_F_TR_OL_TM   4.0
+	param set VT_FW_DIFTHR_EN 1
+	param set VT_FW_DIFTHR_SC 0.17
+	param set VT_FW_MOT_OFFID 3
+	param set VT_FW_PERM_STAB 0
+	param set VT_IDLE_PWM_MC 1200
+	param set VT_MOT_COUNT 3
+	param set VT_TILT_FW  1.0
+	param set VT_TILT_MC  0.0
+	param set VT_TILT_TRANS   0.45
+	param set VT_TRANS_MIN_TM 1.2
+	param set VT_TRANS_P2_DUR 1.3
+	param set VT_TYPE 1
 fi
 
 set MAV_TYPE 21
@@ -80,4 +83,3 @@ set MAV_TYPE 21
 set MIXER vtol_convergence
 
 set PWM_OUT 1234
-set PWM_RATE 400
diff --git a/ROMFS/px4fmu_common/init.d/13013_deltaquad b/ROMFS/px4fmu_common/init.d/13013_deltaquad
index 585823173f..67ea162cd4 100644
--- a/ROMFS/px4fmu_common/init.d/13013_deltaquad
+++ b/ROMFS/px4fmu_common/init.d/13013_deltaquad
@@ -27,24 +27,14 @@ then
 
 	param set COM_DISARM_LAND 5.0
 
-	param set VT_TYPE 2
-	param set VT_MOT_COUNT 4
-	param set VT_F_TRANS_THR 1
-	param set VT_DWN_PITCH_MAX 8
-	param set VT_FW_QC_P 55
-	param set VT_FW_QC_R 55
-	param set VT_TRANS_MIN_TM 15
-	param set VT_B_TRANS_DUR 8
-	param set VT_WV_LND_EN 1
-	param set VT_WV_LTR_EN 1
-	param set VT_FWD_THRUST_SC 4
-	param set VT_F_TRANS_DUR 1
-	param set VT_IDLE_PWM_MC 1025
-	param set VT_B_REV_OUT 0.5
-	param set VT_B_TRANS_THR 0.7
-	param set VT_FW_PERM_STAB 1
-	param set VT_TRANS_TIMEOUT 22
-	param set VT_F_TRANS_RAMP 4
+	param set CBRK_AIRSPD_CHK 162128
+	param set CBRK_IO_SAFETY 22027
+
+	param set EKF2_GPS_POS_X -0.12
+	param set EKF2_IMU_POS_X -0.12
+	param set EKF2_TAU_VEL 0.5
+	param set EKF2_GPS_P_GATE 10
+	param set EKF2_GPS_V_GATE 10
 
 	param set FW_ARSP_MODE 2
 	param set FW_L1_PERIOD 25
@@ -101,6 +91,10 @@ then
 	param set MC_YAWRAUTO_MAX 20
 	param set MC_AIRMODE 1
 
+	param set MIS_DIST_1WP 100
+	param set MIS_DIST_WPS 100000
+	param set MIS_TAKEOFF_ALT 15
+
 	param set MPC_XY_P 0.8
 	param set MPC_XY_VEL_P 0.1
 	param set MPC_XY_VEL_MAX 5
@@ -118,30 +112,41 @@ then
 	param set MPC_TILTMAX_AIR 25
 	param set MPC_TILTMAX_LND 25
 
-	param set CBRK_AIRSPD_CHK 162128
-	param set CBRK_IO_SAFETY 22027
+	param set NAV_DLL_ACT 0
+	param set NAV_LOITER_RAD 100
 
-	param set EKF2_GPS_POS_X -0.12
-	param set EKF2_IMU_POS_X -0.12
-	param set EKF2_TAU_VEL 0.5
-	param set EKF2_GPS_P_GATE 10
-	param set EKF2_GPS_V_GATE 10
+	param set PWM_AUX_DISARMED 950
 
-	param set MIS_DIST_1WP 100
-	param set MIS_DIST_WPS 100000
-	param set MIS_TAKEOFF_ALT 15
+	param set PWM_MAIN_DIS5 1500
+	param set PWM_MAIN_DIS6 1500
+	param set PWM_MAIN_DIS7 900
+	param set PWM_MAIN_DIS8 900
 
-	param set NAV_DLL_ACT 0
-	param set NAV_LOITER_RAD 100
+	param set PWM_RATE 400
 
-	param set SYS_COMPANION 57600
 	param set SENS_BOARD_ROT 18
-fi
+	param set SYS_COMPANION 57600
+
+	param set VT_TYPE 2
+	param set VT_MOT_COUNT 4
+	param set VT_F_TRANS_THR 1
+	param set VT_DWN_PITCH_MAX 8
+	param set VT_FW_QC_P 55
+	param set VT_FW_QC_R 55
+	param set VT_TRANS_MIN_TM 15
+	param set VT_B_TRANS_DUR 8
+	param set VT_WV_LND_EN 1
+	param set VT_WV_LTR_EN 1
+	param set VT_FWD_THRUST_SC 4
+	param set VT_F_TRANS_DUR 1
+	param set VT_IDLE_PWM_MC 1025
+	param set VT_B_REV_OUT 0.5
+	param set VT_B_TRANS_THR 0.7
+	param set VT_FW_PERM_STAB 1
+	param set VT_TRANS_TIMEOUT 22
+	param set VT_F_TRANS_RAMP 4
 
-param set PWM_MAIN_DIS5 1500
-param set PWM_MAIN_DIS6 1500
-param set PWM_MAIN_DIS7 900
-param set PWM_MAIN_DIS8 900
+fi
 
 set MAV_TYPE 22
 
@@ -149,7 +154,4 @@ set MIXER deltaquad
 set MIXER_AUX pass
 
 set PWM_OUT 1234
-set PWM_RATE 400
-
 set PWM_AUX_OUT 12345
-set PWM_AUX_DISARMED 950
diff --git a/ROMFS/px4fmu_common/init.d/15001_coax_heli b/ROMFS/px4fmu_common/init.d/15001_coax_heli
index 1e2db92f22..8c58344a46 100644
--- a/ROMFS/px4fmu_common/init.d/15001_coax_heli
+++ b/ROMFS/px4fmu_common/init.d/15001_coax_heli
@@ -18,14 +18,6 @@ set MIXER coax
 
 if [ $AUTOCNF == yes ]
 then
-	param set NAV_ACC_RAD 2.0
-	param set RTL_RETURN_ALT 30.0
-	param set RTL_DESCEND_ALT 10.0
-
-	param set PWM_DISARMED 900
-	param set PWM_MIN 1075
-	param set PWM_MAX 1950
-
 	param set MC_ROLL_P 6.5
 	param set MC_ROLLRATE_P 0.17
 	param set MC_ROLLRATE_I 0.05
@@ -41,13 +33,22 @@ then
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0
-fi
 
-# use PWM parameters for throttle channel
-set PWM_OUT 34
-set PWM_RATE 400
+	param set NAV_ACC_RAD 2.0
+
+	param set PWM_AUX_RATE 50
+	param set PWM_DISARMED 900
+	param set PWM_MIN 1075
+	param set PWM_MAX 1950
+	param set PWM_RATE 400
+
+	param set RTL_RETURN_ALT 30.0
+	param set RTL_DESCEND_ALT 10.0
+fi
 
 # This is the gimbal pass mixer
 set MIXER_AUX pass
-set PWM_AUX_RATE 50
+
+# use PWM parameters for throttle channel
 set PWM_AUX_OUT 1234
+set PWM_OUT 34
diff --git a/ROMFS/px4fmu_common/init.d/16001_helicopter b/ROMFS/px4fmu_common/init.d/16001_helicopter
index a4e4d768b3..cd958a7bc4 100644
--- a/ROMFS/px4fmu_common/init.d/16001_helicopter
+++ b/ROMFS/px4fmu_common/init.d/16001_helicopter
@@ -25,6 +25,10 @@ set MIXER blade130
 
 if [ $AUTOCNF == yes ]
 then
+	param set ATT_BIAS_MAX 0.0
+
+	param set CBRK_IO_SAFETY 22027
+
 	param set MC_ROLL_P 5.0
 	param set MC_ROLLRATE_P 0.0
 	param set MC_ROLLRATE_I 0.0
@@ -45,12 +49,8 @@ then
 	param set MC_ACRO_R_MAX 360.0
 	param set MC_ACRO_P_MAX 360.0
 
-	param set PWM_MIN 1075
-
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06
 
-	param set ATT_BIAS_MAX 0.0
-
-	param set CBRK_IO_SAFETY 22027
+	param set PWM_MIN 1075
 fi
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/2100_standard_plane b/ROMFS/px4fmu_common/init.d/2100_standard_plane
index 73e574edd0..a047c711d3 100644
--- a/ROMFS/px4fmu_common/init.d/2100_standard_plane
+++ b/ROMFS/px4fmu_common/init.d/2100_standard_plane
@@ -29,5 +29,5 @@ fi
 
 set MIXER AETRFG
 
-# rate must be set by group (see pwm info)
-# throttle is in the same group as servos
+# Rate must be set by group (see pwm info).
+# Throttle is in the same group as servos.
diff --git a/ROMFS/px4fmu_common/init.d/24001_dodeca_cox b/ROMFS/px4fmu_common/init.d/24001_dodeca_cox
index c1e9c35ee0..d47e559497 100644
--- a/ROMFS/px4fmu_common/init.d/24001_dodeca_cox
+++ b/ROMFS/px4fmu_common/init.d/24001_dodeca_cox
@@ -28,6 +28,7 @@ set VEHICLE_TYPE mc
 if [ $AUTOCNF == yes ]
 then
 	param set NAV_ACC_RAD 2.0
+
 	param set PWM_AUX_RATE 400
 	param set PWM_AUX_DISARMED 900
 	param set PWM_AUX_MIN 1075
diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing
index dbaa7fb253..fa7ccd6614 100644
--- a/ROMFS/px4fmu_common/init.d/3033_wingwing
+++ b/ROMFS/px4fmu_common/init.d/3033_wingwing
@@ -40,14 +40,14 @@ then
 	param set FW_RR_FF 0.6
 	param set FW_RR_P 0.04
 
-	# Configure this as plane
-	param set MAV_TYPE 1
-
 	param set PWM_DISARMED 1000
 fi
 
-# Set mixer
+# Configure this as plane.
+set MAV_TYPE 1
+
+# Set mixer.
 set MIXER wingwing
 
-# Provide ESC a constant 1000 us pulse
+# Provide ESC a constant 1000 us pulse.
 set PWM_OUT 4
diff --git a/ROMFS/px4fmu_common/init.d/3034_fx79 b/ROMFS/px4fmu_common/init.d/3034_fx79
index a83098028e..41ead073cb 100644
--- a/ROMFS/px4fmu_common/init.d/3034_fx79
+++ b/ROMFS/px4fmu_common/init.d/3034_fx79
@@ -12,10 +12,11 @@ sh /etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF == yes ]
 then
-	param set NAV_LOITER_RAD 150
 	param set FW_AIRSPD_MAX 30
 	param set FW_AIRSPD_MIN 13
 	param set FW_AIRSPD_TRIM 15
+
+	param set NAV_LOITER_RAD 150
 fi
 
 set MIXER FX79
diff --git a/ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod b/ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod
index 2e38e4b2b6..8884aa94a2 100644
--- a/ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod
+++ b/ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod
@@ -37,7 +37,7 @@ then
 
 	param set FW_L1_PERIOD 20 #units of meters
 	
-	#Damping factor for L1 control (def = 0.75)
+	# Damping factor for L1 control (def = 0.75)
 	param set FW_L1_DAMPING 0.75
 
 	####################################
diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
index 655cb97909..5ce0b32d51 100644
--- a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
@@ -15,13 +15,6 @@ then
 	param set FW_AIRSPD_MAX 25
 	param set FW_AIRSPD_MIN 12.5
 	param set FW_AIRSPD_TRIM 16.5
-	param set LNDFW_AIRSPD_MAX 6
-	param set LNDFW_XYACC_MAX 4
-	param set LNDFW_VEL_XY_MAX 3
-	param set LNDFW_VEL_Z_MAX 5
-	param set FW_R_TC 0.4
-	param set FW_P_TC 0.4
-	param set FW_THR_CRUISE 0.55
 	param set FW_L1_DAMPING 0.75
 	param set FW_L1_PERIOD 15
 	param set FW_LND_ANG 15
@@ -33,6 +26,8 @@ then
 	param set FW_P_LIM_MAX 20
 	param set FW_P_LIM_MIN -30
 	param set FW_R_LIM 45
+	param set FW_R_TC 0.4
+	param set FW_P_TC 0.4
 	param set FW_PR_FF 0.45
 	param set FW_PR_IMAX 0.4
 	param set FW_PR_P 0.005
@@ -42,14 +37,24 @@ then
 	param set FW_P_RMAX_NEG 70
 	param set FW_P_RMAX_POS 70
 	param set FW_R_RMAX 70
-	param set SYS_COMPANION 157600
+	param set FW_THR_CRUISE 0.55
+
+	param set LNDFW_AIRSPD_MAX 6
+	param set LNDFW_XYACC_MAX 4
+	param set LNDFW_VEL_XY_MAX 3
+	param set LNDFW_VEL_Z_MAX 5
+
+	param set MIS_TAKEOFF_ALT 50
+
+	param set NAV_LOITER_RAD 30
+
 	param set PWM_MAIN_REV1 1
 	param set PWM_MAIN_REV2 1
 	param set PWM_DISARMED 0
 	param set PWM_MIN 900
 	param set PWM_MAX 2100
-	param set MIS_TAKEOFF_ALT 50
-	param set NAV_LOITER_RAD 30
+
+	param set SYS_COMPANION 157600
 fi
 
 set MIXER caipi
diff --git a/ROMFS/px4fmu_common/init.d/4002_quad_x_mount b/ROMFS/px4fmu_common/init.d/4002_quad_x_mount
index c2ddaeb878..e9b0dfb9ee 100644
--- a/ROMFS/px4fmu_common/init.d/4002_quad_x_mount
+++ b/ROMFS/px4fmu_common/init.d/4002_quad_x_mount
@@ -22,9 +22,13 @@
 
 sh /etc/init.d/rc.mc_defaults
 
+if [ $AUTOCNF == yes ]
+then
+	param set PWM_AUX_RATE 50
+fi
+
 set MIXER quad_x
 set PWM_OUT 1234
 
 set MIXER_AUX mount
 set PWM_AUX_OUT 123456
-set PWM_AUX_RATE 50
diff --git a/ROMFS/px4fmu_common/init.d/4003_qavr5 b/ROMFS/px4fmu_common/init.d/4003_qavr5
index 932480278f..77ef2bab45 100644
--- a/ROMFS/px4fmu_common/init.d/4003_qavr5
+++ b/ROMFS/px4fmu_common/init.d/4003_qavr5
@@ -28,7 +28,9 @@ then
 	param set MC_YAWRATE_D 0.0
 	param set MC_TPA_BREAK_P 0.7
 	param set MC_TPA_RATE_P 0.3
-	param set PWM_MIN 1075
+
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06
+	
+	param set PWM_MIN 1075
 fi
diff --git a/ROMFS/px4fmu_common/init.d/4004_H4_680mm b/ROMFS/px4fmu_common/init.d/4004_H4_680mm
index 2574a4994f..0e2a0bd2aa 100644
--- a/ROMFS/px4fmu_common/init.d/4004_H4_680mm
+++ b/ROMFS/px4fmu_common/init.d/4004_H4_680mm
@@ -15,10 +15,13 @@ sh /etc/init.d/4002_quad_x_mount
 # see http://www.zhiyun-tech.com/uploadfile/datedown/instruction/Tiny2_English_instructionV1.03.pdf
 # under Gimbal Connection Instruction
 
-set PWM_AUX_RATE 400
-set PWM_AUX_DISARMED 1520
-set PWM_AUX_MIN 1020
-set PWM_AUX_MAX 2020
+if [ $AUTOCNF == yes ]
+then
+	param set PWM_AUX_DISARMED 1520
+	param set PWM_AUX_MIN 1020
+	param set PWM_AUX_MAX 2020
+	param set PWM_AUX_RATE 400
+fi
 
 # Start FrSky telemetry on SERIAL4 (ttyS6, designated "SERIAL4/5" on the case)
 frsky_telemetry start -d /dev/ttyS6
diff --git a/ROMFS/px4fmu_common/init.d/4009_qav250 b/ROMFS/px4fmu_common/init.d/4009_qav250
index 6b4127da75..54aaa40a42 100644
--- a/ROMFS/px4fmu_common/init.d/4009_qav250
+++ b/ROMFS/px4fmu_common/init.d/4009_qav250
@@ -12,6 +12,14 @@ sh /etc/init.d/4001_quad_x
 
 if [ $AUTOCNF == yes ]
 then
+	param set ATT_BIAS_MAX 0.0
+
+	param set CBRK_IO_SAFETY 22027
+
+	param set MC_TPA_BREAK_P 0.5
+	param set MC_TPA_RATE_P 0.5
+
+	param set MPC_MANTHR_MIN 0.06
 	param set MC_ROLL_P 6.0
 	param set MC_ROLLRATE_P 0.14
 	param set MC_ROLLRATE_I 0.23
@@ -24,11 +32,7 @@ then
 	param set MC_YAWRATE_P 0.3
 	param set MC_YAWRATE_I 0.2
 	param set MC_YAWRATE_D 0.0
-	param set PWM_MIN 1075
 	param set MPC_THR_MIN 0.06
-	param set MPC_MANTHR_MIN 0.06
-	param set CBRK_IO_SAFETY 22027
-	param set ATT_BIAS_MAX 0.0
-	param set MC_TPA_BREAK_P 0.5
-	param set MC_TPA_RATE_P 0.5
+
+	param set PWM_MIN 1075
 fi
diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330
index 230323371a..6b37996f86 100644
--- a/ROMFS/px4fmu_common/init.d/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330
@@ -24,6 +24,7 @@ then
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
+
 	# DJI ESCs do not support calibration and need a higher min
 	param set PWM_MIN 1230
 fi
diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450
index be3321f625..6210b0e459 100644
--- a/ROMFS/px4fmu_common/init.d/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450
@@ -24,6 +24,7 @@ then
 	param set MC_YAWRATE_P 0.3
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
+
 	# DJI ESCs do not support calibration and need a higher min
 	param set PWM_MIN 1230
 fi
diff --git a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
index f16cd70db0..9bf5c97616 100644
--- a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
+++ b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
@@ -31,5 +31,6 @@ then
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
+
 	param set PWM_MIN 1200
 fi
diff --git a/ROMFS/px4fmu_common/init.d/4040_reaper b/ROMFS/px4fmu_common/init.d/4040_reaper
index f825a179d4..28c15cd287 100644
--- a/ROMFS/px4fmu_common/init.d/4040_reaper
+++ b/ROMFS/px4fmu_common/init.d/4040_reaper
@@ -30,19 +30,21 @@ then
 	param set MC_YAW_P 4
 
 	param set NAV_ACC_RAD 2.0
-	param set RTL_RETURN_ALT 30.0
-	param set RTL_DESCEND_ALT 10.0
 
+	param set PWM_AUX_DISARMED 950
+	param set PWM_AUX_RATE 50
 	param set PWM_MIN 1100
 	param set PWM_MAX 1900
-	param set PWM_AUX_DISARMED 950
+	param set PWM_RATE 50
+
+	param set RTL_RETURN_ALT 30.0
+	param set RTL_DESCEND_ALT 10.0
 fi
 
 set MIXER quad_h
 
-set PWM_RATE 50
 set PWM_OUT 1234
 
 set MIXER_AUX pass
-set PWM_AUX_RATE 50
+
 set PWM_AUX_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/4051_s250aq b/ROMFS/px4fmu_common/init.d/4051_s250aq
index facc965fbc..ede53fed03 100644
--- a/ROMFS/px4fmu_common/init.d/4051_s250aq
+++ b/ROMFS/px4fmu_common/init.d/4051_s250aq
@@ -28,6 +28,10 @@ set PWM_OUT 1234
 
 if [ $AUTOCNF == yes ]
 then
+	param set ATT_BIAS_MAX 0.0
+
+	param set CBRK_IO_SAFETY 22027
+
 	param set MC_ROLL_P 8.0
 	param set MC_ROLLRATE_P 0.19
 	param set MC_ROLLRATE_I 0.1
@@ -52,13 +56,8 @@ then
 	param set MC_TPA_RATE_I 0.0
 	param set MC_TPA_RATE_P 1.0
 
-
-	param set PWM_MIN 1075
-
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06
 
-	param set ATT_BIAS_MAX 0.0
-
-	param set CBRK_IO_SAFETY 22027
+	param set PWM_MIN 1075
 fi
diff --git a/ROMFS/px4fmu_common/init.d/4060_dji_matrice_100 b/ROMFS/px4fmu_common/init.d/4060_dji_matrice_100
index 1366f42c87..094ebef7a4 100644
--- a/ROMFS/px4fmu_common/init.d/4060_dji_matrice_100
+++ b/ROMFS/px4fmu_common/init.d/4060_dji_matrice_100
@@ -12,6 +12,8 @@ sh /etc/init.d/4001_quad_x
 
 if [ $AUTOCNF == yes ]
 then
+	param set BAT_N_CELLS 6
+
 	param set MC_ROLL_P 6.5
 	param set MC_ROLLRATE_P 0.05
 	param set MC_ROLLRATE_I 0.05
@@ -23,6 +25,6 @@ then
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.0
 	param set MC_YAWRATE_D 0.0
-	param set BAT_N_CELLS 6
+
 	param set PWM_MIN 1200
 fi
diff --git a/ROMFS/px4fmu_common/init.d/4070_aerofc b/ROMFS/px4fmu_common/init.d/4070_aerofc
index be379ba26f..09ba164737 100644
--- a/ROMFS/px4fmu_common/init.d/4070_aerofc
+++ b/ROMFS/px4fmu_common/init.d/4070_aerofc
@@ -25,6 +25,14 @@ then
 
 	param set COM_DISARM_LAND 3.0
 
+	param set EKF2_GPS_POS_X -0.0600
+	param set EKF2_GPS_POS_Z -0.1000
+	param set EKF2_MIN_OBS_DT 50
+
+	param set EKF2_BARO_GATE 10.0
+	param set EKF2_BARO_NOISE 5.0
+	param set EKF2_ACC_NOISE 0.7
+
 	param set LNDMC_Z_VEL_MAX 2.0000
 
 	param set MC_ROLL_P 8.0000
@@ -56,13 +64,7 @@ then
 	param set MPC_Z_VEL_MAX_UP 5.0000
 	param set MPC_Z_VEL_P 0.8000
 
-	param set EKF2_GPS_POS_X -0.0600
-	param set EKF2_GPS_POS_Z -0.1000
-	param set EKF2_MIN_OBS_DT 50
-
-	param set EKF2_BARO_GATE 10.0
-	param set EKF2_BARO_NOISE 5.0
-	param set EKF2_ACC_NOISE 0.7
+	param set SYS_COMPANION 921600
 fi
 
 if param compare SYS_HITL 0
@@ -76,5 +78,4 @@ fi
 set MIXER quad_x
 set USE_IO no
 
-param set SYS_COMPANION 921600
 set MAVLINK_COMPANION_DEVICE /dev/ttyS1
diff --git a/ROMFS/px4fmu_common/init.d/4080_zmr250 b/ROMFS/px4fmu_common/init.d/4080_zmr250
index e39a987796..bc88ba3bd7 100644
--- a/ROMFS/px4fmu_common/init.d/4080_zmr250
+++ b/ROMFS/px4fmu_common/init.d/4080_zmr250
@@ -17,6 +17,10 @@ set PWM_OUT 1234
 
 if [ $AUTOCNF == yes ]
 then
+	param set CBRK_IO_SAFETY 22027
+
+	param set FAILSAFE 100
+
 	param set MC_ROLL_P 2.2
 	param set MC_ROLLRATE_P 0.06
 	param set MC_ROLLRATE_I 0.2
@@ -41,12 +45,9 @@ then
 	param set MC_TPA_RATE_P 0.5
 	param set MC_TPA_RATE_D 0.5
 
+	# param set NAV_RCL_ACT 6 # Lockdown
+
 	param set PWM_MIN 1075
 	param set PWM_RATE 400
 	param set PWM_DISARMED 900
-	param set FAILSAFE 100
-
-	# param set NAV_RCL_ACT 6 # Lockdown
-
-	param set CBRK_IO_SAFETY 22027
 fi
diff --git a/ROMFS/px4fmu_common/init.d/4090_nanomind b/ROMFS/px4fmu_common/init.d/4090_nanomind
index b629038eac..f64b18fabb 100644
--- a/ROMFS/px4fmu_common/init.d/4090_nanomind
+++ b/ROMFS/px4fmu_common/init.d/4090_nanomind
@@ -19,6 +19,8 @@ sh /etc/init.d/4001_quad_x
 
 if [ $AUTOCNF == yes ]
 then
+	param set BAT_N_CELLS 1
+
 	param set MC_ROLL_P 8.0
 	param set MC_ROLLRATE_P 0.19
 	param set MC_ROLLRATE_I 0.1
@@ -32,8 +34,6 @@ then
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
 
-	param set BAT_N_CELLS 1
-
 	param set PWM_DISARMED 0
 	param set PWM_MIN 500
 	param set PWM_MAX 2200
diff --git a/ROMFS/px4fmu_common/init.d/4900_crazyflie b/ROMFS/px4fmu_common/init.d/4900_crazyflie
index 8bc6d76b6d..e5b02ea127 100644
--- a/ROMFS/px4fmu_common/init.d/4900_crazyflie
+++ b/ROMFS/px4fmu_common/init.d/4900_crazyflie
@@ -17,14 +17,25 @@
 sh /etc/init.d/4001_quad_x
 if [ $AUTOCNF == yes ]
 then
-	param set COM_RC_IN_MODE 1
 	param set BAT_N_CELLS 1
 	param set BAT_CAPACITY 240
 	param set BAT_SOURCE 1
-	param set PWM_DISARMED 0
-	param set PWM_MIN 0
-	param set PWM_MAX 255
-	param set SYS_COMPANION 20
+
+	param set CBRK_SUPPLY_CHK 894281
+	param set CBRK_USB_CHK 197848
+	param set COM_RC_IN_MODE 1
+
+	param set EKF2_ABL_LIM 2.0
+	param set EKF2_AID_MASK 3
+	param set EKF2_HGT_MODE 2
+	param set EKF2_MAG_TYPE 1
+	param set EKF2_OF_DELAY 10
+
+	param set IMU_GYRO_CUTOFF 100
+	param set IMU_ACCEL_CUTOFF 30
+
+	param set MC_AIRMODE 1
+	param set MC_DTERM_CUTOFF 70
 	param set MC_PITCHRATE_D 0.002
 	param set MC_PITCHRATE_I 0.2
 	param set MC_PITCHRATE_P 0.07
@@ -34,9 +45,7 @@ then
 	param set MC_ROLLRATE_P 0.07
 	param set MC_ROLL_P 6.5
 	param set MC_YAW_P 3.0
-	param set EKF2_HGT_MODE 2
-	param set EKF2_AID_MASK 3
-	param set EKF2_OF_DELAY 10
+
 	param set MPC_THR_HOVER 0.7
 	param set MPC_MANTHR_MAX 1.0
 	param set MPC_THR_MAX 1.0
@@ -45,21 +54,24 @@ then
 	param set MPC_Z_VEL_P 0.4
 	param set MPC_HOLD_MAX_XY 0.1
 	param set MPC_MAX_FLOW_HGT 3
-	param set IMU_GYRO_CUTOFF 100
-	param set IMU_ACCEL_CUTOFF 30
-	param set MC_DTERM_CUTOFF 70
-	param set SYS_FMU_TASK 1
-	param set CBRK_SUPPLY_CHK 894281
-	param set CBRK_USB_CHK 197848
-	param set SDLOG_PROFILE 1
-	param set EKF2_MAG_TYPE 1
-	param set EKF2_ABL_LIM 2.0
-	param set MC_AIRMODE 1
+
 	param set NAV_RCL_ACT 3
+
+	param set PWM_DISARMED 0
+	param set PWM_MIN 0
+	param set PWM_MAX 255
+
+	# Run the motors at 328.125 kHz (recommended)
+	param set PWM_RATE 3921
+
+	param set SDLOG_PROFILE 1
 	param set SENS_FLOW_MINRNG 0.05
+	param set SYS_COMPANION 20	
+	param set SYS_FMU_TASK 1
+
 fi
-set PWM_MIN none
-set PWM_MAX none
+
+# TODO - These values overwrite param sets above.  Can they be removed?
 set PWM_DISARMED none
-# Will run the motors at 328.125 kHz (recommended)
-set PWM_RATE 3921
\ No newline at end of file
+set PWM_MAX none
+set PWM_MIN none
diff --git a/ROMFS/px4fmu_common/init.d/50000_generic_ground_vehicle b/ROMFS/px4fmu_common/init.d/50000_generic_ground_vehicle
index 7af601313d..87b747e5fe 100644
--- a/ROMFS/px4fmu_common/init.d/50000_generic_ground_vehicle
+++ b/ROMFS/px4fmu_common/init.d/50000_generic_ground_vehicle
@@ -19,35 +19,39 @@ if [ $AUTOCNF == yes ]
 then
 	param set BAT_N_CELLS 2
 
-	param set FW_AIRSPD_MIN 0
-	param set FW_AIRSPD_TRIM 1
-	param set FW_AIRSPD_MAX 3
-
-	param set NAV_ACC_RAD 0.5
-
-	param set MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
-
-	param set EKF2_GBIAS_INIT 0.01
 	param set EKF2_ANGERR_INIT 0.01
+	param set EKF2_GBIAS_INIT 0.01
 	param set EKF2_MAG_TYPE 1
 
-	param set GND_WR_P 2
-	param set GND_WR_I 0.9674
-	param set GND_WR_IMAX 0.1
-	param set GND_WR_D 1.2
-	param set GND_SP_CTRL_MODE 1
+	param set FW_AIRSPD_MAX 3
+	param set FW_AIRSPD_MIN 0
+	param set FW_AIRSPD_TRIM 1
+
 	param set GND_L1_DIST 10
-	param set GND_THR_IDLE 0
-	param set GND_THR_CRUISE 0
-	param set GND_THR_MAX 0.5
-	param set GND_THR_MIN 0
+	param set GND_SP_CTRL_MODE 1
 	param set GND_SPEED_P 0.25
 	param set GND_SPEED_I 0.001
 	param set GND_SPEED_D 3
 	param set GND_SPEED_IMAX 0.125
 	param set GND_SPEED_THR_SC 1
+	param set GND_THR_IDLE 0
+	param set GND_THR_CRUISE 0
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0
+	param set GND_WR_P 2
+	param set GND_WR_I 0.9674
+	param set GND_WR_IMAX 0.1
+	param set GND_WR_D 1.2
+
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+
+	param set NAV_ACC_RAD 0.5
 
+	# Provide ESC a constant 1500 us pulse
+	param set PWM_DISARMED 1500
+	param set PWM_MAX 2000
+	param set PWM_MIN 1000
 fi
 
 # Configure this as ugv
@@ -56,8 +60,4 @@ set MAV_TYPE 10
 # Set mixer
 set MIXER ugv_generic
 
-# Provide ESC a constant 1500 us pulse
-set PWM_DISARMED 1500
 set PWM_MAIN_REV2 1
-set PWM_MAX 2000
-set PWM_MIN 1000
diff --git a/ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd b/ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd
index caccece747..5c0428b423 100644
--- a/ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd
+++ b/ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd
@@ -21,19 +21,14 @@ if [ $AUTOCNF == yes ]
 then
 	param set BAT_N_CELLS 7
 
-	param set FW_AIRSPD_MIN 0
-	param set FW_AIRSPD_TRIM 1
-	param set FW_AIRSPD_MAX 3
-
-	param set NAV_ACC_RAD 0.5
-
-	param set MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
-
 	param set EKF2_GBIAS_INIT 0.01
 	param set EKF2_ANGERR_INIT 0.01
 	param set EKF2_MAG_TYPE 1
 
+	param set FW_AIRSPD_MIN 0
+	param set FW_AIRSPD_TRIM 1
+	param set FW_AIRSPD_MAX 3
+
 	param set GND_WR_P 2
 	param set GND_WR_I 0.9674
 	param set GND_WR_IMAX 0.1
@@ -50,6 +45,15 @@ then
 	param set GND_SPEED_IMAX 0.125
 	param set GND_SPEED_THR_SC 1
 
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+
+	param set NAV_ACC_RAD 0.5
+
+	# Provide ESC a constant 1500 us pulse
+	param set PWM_DISARMED 1500
+	param set PWM_MAX 2000
+	param set PWM_MIN 1000
 fi
 
 # Configure this as ugv
@@ -58,8 +62,4 @@ set MAV_TYPE 10
 # Set mixer
 set MIXER stampede
 
-# Provide ESC a constant 1500 us pulse
-set PWM_DISARMED 1500
 set PWM_MAIN_REV2 1
-set PWM_MAX 2000
-set PWM_MIN 1000
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
index aca06e9967..71effde4b4 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -25,5 +25,5 @@ fi
 #
 set MIXER_AUX pass
 
-set PWM_AUX_RATE 50
 set PWM_AUX_OUT 1234
+set PWM_AUX_RATE 50
diff --git a/ROMFS/px4fmu_common/init.d/rc.ugv_defaults b/ROMFS/px4fmu_common/init.d/rc.ugv_defaults
index 0e8d7ddbf0..4d0ec0aec8 100644
--- a/ROMFS/px4fmu_common/init.d/rc.ugv_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.ugv_defaults
@@ -39,5 +39,5 @@ set PWM_RATE 50
 # This is the gimbal pass mixer.
 #
 set MIXER_AUX pass
-set PWM_AUX_RATE 50
 set PWM_AUX_OUT 1234
+set PWM_AUX_RATE 50
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
index b6bf21dfd4..15a4fec595 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@@ -21,7 +21,9 @@ then
 	param set NAV_ACC_RAD 3
 
 	param set RTL_LAND_DELAY 0
+
 fi
 
 # Set environment variables (!= parameters)
-set PWM_RATE 400
+param set PWM_RATE 400
+param set PWM_AUX_RATE 50
-- 
GitLab