diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy b/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
index e7814e3530..e7ee3540e5 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
@@ -11,6 +11,5 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-set PWM_OUT 12345678
 set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
 set MIXER custom
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship b/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship
index 09bfb9b528..e6684dd3ce 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship
@@ -12,4 +12,3 @@
 . ${R}etc/init.d/rc.airship_defaults
 
 set MIXER cloudship
-set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index ff5b7abee5..d87937d41d 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -30,7 +30,6 @@ set MIXER_AUX                   none
 set MIXER_FILE                  none
 set OUTPUT_MODE                 sim
 set EXTRA_MIXER_MODE            none
-set PWM_OUT                     none
 set SDCARD_MIXERS_PATH          etc/mixers
 set USE_IO                      no
 set VEHICLE_TYPE                none
diff --git a/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
index a33707b682..e3b264ba76 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
@@ -23,8 +23,9 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults
 
+set MIXER quad_w
 
 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.1
@@ -38,6 +39,3 @@ param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.28
 param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0
-set MIXER quad_w
-
-set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
index ea593e825b..434f53e123 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
@@ -21,8 +21,9 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults
 
+set MIXER quad_w
 
 # TODO tune roll/pitch separately
 param set-default MC_ROLL_P 7
@@ -40,6 +41,3 @@ param set-default MC_YAWRATE_D 0
 
 param set-default BAT_V_DIV 12.27559
 param set-default BAT_A_PER_V 15.39103
-set MIXER quad_w
-
-set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
index 1d7e3e268c..a367ed8e37 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
+++ b/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
@@ -23,8 +23,9 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults
 
+set MIXER quad_w
 
 param set-default BAT_N_CELLS 4
 
@@ -40,6 +41,3 @@ param set-default MC_YAW_P 4
 param set-default MC_YAWRATE_P 0.2
 param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0
-set MIXER quad_w
-
-set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance b/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
index 05b39e571e..957b1713be 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
+++ b/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
@@ -23,8 +23,9 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults
 
+set MIXER quad_w
 
 param set-default BAT_N_CELLS 6
 param set-default BAT_V_EMPTY 3.5
@@ -43,8 +44,3 @@ param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0
 
 param set-default MPC_XY_VEL_MAX 2
-
-param set-default PWM_MAIN_MIN 1080
-set MIXER quad_w
-
-set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
index 3cf60a0f98..74931ea067 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
@@ -11,7 +11,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
-set PWM_OUT 1234
 
 param set SYS_HITL 1
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
index 0eb7b40ff2..0dd4e7028f 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
@@ -13,7 +13,6 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default BAT_N_CELLS 3
 
 param set-default COM_RC_IN_MODE 1
@@ -78,5 +77,3 @@ param set-default CBRK_IO_SAFETY 22027
 set MAV_TYPE 22
 
 set MIXER standard_vtol_hitl
-
-set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox
index b36f11ef34..f18cec33dc 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox
+++ b/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox
@@ -21,9 +21,6 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_hex_defaults
 
 set MIXER hexa_cox
-
-# Need to set all 8 channels
-set PWM_OUT 12345678
diff --git a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
index 9011987384..f8ac39a099 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
@@ -13,7 +13,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
-set PWM_OUT 1234
 
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2
diff --git a/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox b/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox
index 5fc70fdfd3..e71ad485b7 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox
+++ b/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox
@@ -19,8 +19,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_octo_defaults
 
+# MAIN set by rc.mc_octo_defaults
 set MIXER octo_cox
-
-set PWM_OUT 12345678
diff --git a/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik b/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
index e91e70e8d6..85154fb057 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
+++ b/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
@@ -20,8 +20,9 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_octo_defaults
 
+set MIXER octo_cox_w
 
 param set-default MC_PITCH_P 4
 param set-default MC_PITCHRATE_P 0.24
@@ -45,6 +46,3 @@ param set-default MPC_THR_MIN 0.15
 param set-default MPC_Z_VEL_MAX_DN 2
 
 param set-default BAT_N_CELLS 4
-set MIXER octo_cox_w
-
-set PWM_OUT 12345678
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
index 6029d176ff..5e1fcf883f 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
+++ b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
@@ -21,18 +21,21 @@
 # @board bitcraze_crazyflie exclude
 #
 
+. ${R}etc/init.d/rc.mc_quad_defaults
 . ${R}etc/init.d/rc.vtol_defaults
 
-
-param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
+set MAV_TYPE 22
 
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
-set MAV_TYPE 22
 
-set MIXER quad_x
+# MAIN set by rc.mc_quad_defaults
+
+# AUX
 set MIXER_AUX vtol_AAERT
-
-set PWM_OUT 1234
+param set-default PWM_AUX_DIS1 1500
+param set-default PWM_AUX_DIS2 1500
+param set-default PWM_AUX_DIS3 1500
+param set-default PWM_AUX_DIS4 1500
+param set-default PWM_AUX_DIS5 900 # throttle
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
index 30b8c7111f..cf3b5cafa7 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
+++ b/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
@@ -18,8 +18,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
-param set-default MAV_TYPE 19
+set MAV_TYPE 19
 
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.12
@@ -43,8 +42,20 @@ param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_ID 12
 param set-default VT_TYPE 0
-set MAV_TYPE 19
 
+
+# MAIN
 set MIXER vtol_tailsitter_duo
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
 
-set PWM_OUT 123456
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 1500 # right (starboard) elevon
+param set-default PWM_MAIN_DIS4 1500 # left (port) elevon.
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6 b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
index 8660126b12..4846322c1f 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
+++ b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
@@ -23,6 +23,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+set MAV_TYPE 21
 
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.19
@@ -40,8 +41,6 @@ param set-default MC_YAWRATE_I 0.02
 param set-default MC_YAWRATE_D 0
 param set-default MC_YAWRATE_FF 0
 
-param set-default PWM_MAIN_RATE 400
-
 param set-default VT_FW_MOT_OFFID 34
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_MOT_ID 123456
@@ -51,9 +50,40 @@ param set-default VT_TILT_TRANS 0.5
 param set-default VT_TILT_FW 0.9
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21
 
+# MAIN
 set MIXER firefly6
-set MIXER_AUX firefly6
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1100
+param set-default PWM_MAIN_MIN5 1100
+param set-default PWM_MAIN_MIN6 1100
 
-set PWM_OUT 12345678
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 1900
+param set-default PWM_MAIN_MAX5 1900
+param set-default PWM_MAIN_MAX6 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+param set-default PWM_MAIN_RATE4 400
+param set-default PWM_MAIN_RATE5 400
+param set-default PWM_MAIN_RATE6 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 900
+param set-default PWM_MAIN_DIS5 900
+param set-default PWM_MAIN_DIS6 900
+
+# AUX
+set MIXER_AUX firefly6
+param set-default PWM_MAIN_DIS1 1000 # Tilt mechanism servo mixer
+param set-default PWM_MAIN_DIS2 1500
+param set-default PWM_MAIN_DIS3 1500
+param set-default PWM_MAIN_DIS4 2000 # Landing gear
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
index ea700ce084..bd8c77656b 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
@@ -11,18 +11,18 @@
 # @board bitcraze_crazyflie exclude
 #
 
+. ${R}etc/init.d/rc.mc_quad_defaults
 . ${R}etc/init.d/rc.vtol_defaults
 
-
-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
-
-param set-default VT_MOT_ID 1234
-param set-default VT_IDLE_PWM_MC  1080
-param set-default VT_TYPE 0
-param set-default VT_ELEV_MC_LOCK 1
 set MAV_TYPE 20
 
-set MIXER quad_x_vtol
+param set-default VT_MOT_ID 1234
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_TYPE 0
+param set-default VT_ELEV_MC_LOCK 1
 
-set PWM_OUT 1234
+# MAIN
+set MIXER quad_x_vtol
+# outputs 1-4 set by rc.mc_quad_defaults
+param set-default PWM_MAIN_DIS5 1500 # left elevon
+param set-default PWM_MAIN_DIS6 1500 # right elevon
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
index fdf9a3daf8..fce2b3d9af 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
@@ -20,17 +20,19 @@
 # @board bitcraze_crazyflie exclude
 #
 
+. ${R}etc/init.d/rc.mc_quad_defaults
 . ${R}etc/init.d/rc.vtol_defaults
 
-
-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
-
-param set-default VT_IDLE_PWM_MC  1080
-param set-default VT_TYPE 0
-param set-default VT_ELEV_MC_LOCK 1
 set MAV_TYPE 20
 
-set MIXER quad_+_vtol
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_TYPE 0
+param set-default VT_ELEV_MC_LOCK 1
 
-set PWM_OUT 1234
+# MAIN
+set MIXER quad_+_vtol
+# outputs 1-4 set by rc.mc_quad_defaults
+param set-default PWM_MAIN_DIS5 1500
+param set-default PWM_MAIN_DIS6 1500
+param set-default PWM_MAIN_DIS7 1500
+param set-default PWM_MAIN_DIS8 1500
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
index 03151f1426..0fe584cdab 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
@@ -21,12 +21,10 @@
 # @board bitcraze_crazyflie exclude
 #
 
+. ${R}etc/init.d/rc.mc_quad_defaults
 . ${R}etc/init.d/rc.vtol_defaults
 
-
-param set-default PWM_AUX_DIS5 950
-
-param set-default PWM_MAIN_RATE 400
+set MAV_TYPE 22
 
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.17
@@ -64,9 +62,14 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22
 
-set MIXER quad_x
+
+# MAIN set by rc.mc_quad_defaults
+
+# AUX
 set MIXER_AUX vtol_AAERT
-
-set PWM_OUT 1234
+param set-default PWM_AUX_DIS1 1500
+param set-default PWM_AUX_DIS2 1500
+param set-default PWM_AUX_DIS3 1500
+param set-default PWM_AUX_DIS4 1500
+param set-default PWM_AUX_DIS5 900 # throttle
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta b/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
index b50ab35cbe..9d16078cf3 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
+++ b/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
@@ -19,8 +19,10 @@
 # @board bitcraze_crazyflie exclude
 #
 
+. ${R}etc/init.d/rc.mc_quad_defaults
 . ${R}etc/init.d/rc.vtol_defaults
 
+set MAV_TYPE 22
 
 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.15
@@ -44,17 +46,17 @@ param set-default MPC_XY_VEL_P_ACC 2
 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_YAWRAUTO_MAX 20
 
-param set-default PWM_AUX_DIS3 950
-param set-default PWM_MAIN_RATE 400
-
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22
 
-set MIXER quad_x
+# MAIN set by rc.mc_quad_defaults
+
+# AUX
 set MIXER_AUX vtol_delta
-
-set PWM_OUT 1234
+param set-default PWM_AUX_DIS1 1500
+param set-default PWM_AUX_DIS2 1500
+param set-default PWM_AUX_DIS3 900 # throttle
+param set-default PWM_AUX_DIS4 900 # throttle reverse
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad b/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
index 62ad1e71a3..825ee63777 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
@@ -11,8 +11,10 @@
 # @board bitcraze_crazyflie exclude
 #
 
+. ${R}etc/init.d/rc.mc_quad_defaults
 . ${R}etc/init.d/rc.vtol_defaults
 
+set MAV_TYPE 22
 
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.15
@@ -30,20 +32,20 @@ param set-default MC_YAWRATE_I 0.02
 param set-default MC_YAWRATE_D 0
 param set-default MC_YAWRATE_FF 0
 param set-default MC_YAWRATE_MAX 40
-
 param set-default MPC_YAWRAUTO_MAX 40
 
-param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
-
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22
 
-set MIXER quad_x
+# MAIN set by rc.mc_quad_defaults
+
+# AUX
 set MIXER_AUX vtol_AAVVT
-
-set PWM_OUT 1234
+param set-default PWM_AUX_DIS1 1500
+param set-default PWM_AUX_DIS2 1500
+param set-default PWM_AUX_DIS3 1500
+param set-default PWM_AUX_DIS4 1500
+param set-default PWM_AUX_DIS5 900 # throttle
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger b/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
index a04b06f68a..b1976accf8 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
+++ b/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
@@ -11,8 +11,10 @@
 # @board bitcraze_crazyflie exclude
 #
 
+. ${R}etc/init.d/rc.mc_quad_defaults
 . ${R}etc/init.d/rc.vtol_defaults
 
+set MAV_TYPE 22
 
 param set-default FW_THR_CRUISE 65
 param set-default FW_PR_P 0.08
@@ -45,11 +47,6 @@ param set-default MPC_TKO_SPEED 1.5
 param set-default MPC_LAND_SPEED 0.8
 param set-default MPC_YAWRAUTO_MAX 40
 
-param set-default PWM_AUX_DIS5 950
-param set-default PWM_AUX_REV1 1
-param set-default PWM_AUX_REV2 1
-param set-default PWM_MAIN_RATE 400
-
 param set-default VT_ARSP_TRANS 15
 param set-default VT_ARSP_BLEND 8
 param set-default VT_B_TRANS_DUR 4
@@ -58,9 +55,13 @@ param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2
-set MAV_TYPE 22
 
-set MIXER quad_x
+# MAIN set by rc.mc_quad_defaults
+
+# AUX
 set MIXER_AUX vtol_AAERT
-
-set PWM_OUT 1234
+param set-default PWM_AUX_DIS1 1500
+param set-default PWM_AUX_DIS2 1500
+param set-default PWM_AUX_DIS3 1500
+param set-default PWM_AUX_DIS4 1500
+param set-default PWM_AUX_DIS5 900 # throttle
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger b/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
index 47f0c98f41..19fc98c5c6 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
+++ b/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
@@ -11,8 +11,10 @@
 # @board bitcraze_crazyflie exclude
 #
 
+. ${R}etc/init.d/rc.mc_quad_defaults
 . ${R}etc/init.d/rc.vtol_defaults
 
+set MAV_TYPE 22
 
 param set-default FW_AIRSPD_MAX   22
 param set-default FW_AIRSPD_MIN   14
@@ -61,15 +63,6 @@ param set-default MPC_YAWRAUTO_MAX 40
 
 param set-default NAV_ACC_RAD 3
 
-param set-default PWM_AUX_REV1    1
-param set-default PWM_AUX_REV2    1
-param set-default PWM_AUX_REV3    1
-param set-default PWM_AUX_REV4    1
-
-param set-default PWM_AUX_DIS5 950
-
-param set-default PWM_MAIN_RATE 400
-
 param set-default VT_ARSP_TRANS   15
 param set-default VT_B_TRANS_DUR  4
 param set-default VT_F_TRANS_THR    0.6
@@ -80,9 +73,17 @@ param set-default VT_TRANS_MIN_TM 5
 param set-default VT_TRANS_TIMEOUT    30
 param set-default VT_TYPE 2
 
-set MAV_TYPE 22
+# MAIN set by rc.mc_quad_defaults
 
-set MIXER quad_x
+# AUX
 set MIXER_AUX vtol_AAERT
+param set-default PWM_AUX_DIS1 1500
+param set-default PWM_AUX_DIS2 1500
+param set-default PWM_AUX_DIS3 1500
+param set-default PWM_AUX_DIS4 1500
+param set-default PWM_AUX_DIS5 900 # throttle
 
-set PWM_OUT 1234
+param set-default PWM_AUX_REV1 1
+param set-default PWM_AUX_REV2 1
+param set-default PWM_AUX_REV3 1
+param set-default PWM_AUX_REV4 1
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13010_claire b/ROMFS/px4fmu_common/init.d/airframes/13010_claire
index 5890fd4a67..6ea474361f 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13010_claire
+++ b/ROMFS/px4fmu_common/init.d/airframes/13010_claire
@@ -13,14 +13,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
-param set-default PWM_AUX_DISARM 1000
-param set-default PWM_AUX_MAX 2000
-param set-default PWM_AUX_MIN 1000
-param set-default PWM_AUX_RATE 50
-
-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
+set MAV_TYPE 21
 
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 13
@@ -30,9 +23,32 @@ param set-default VT_TILT_MC 0.08
 param set-default VT_TILT_TRANS 0.5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21
 
-set MIXER claire
+
+# MAIN
+set MIXER quad_x
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1100
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+param set-default PWM_MAIN_RATE4 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 900
+
+# AUX
 set MIXER_AUX claire
-
-set PWM_OUT 1234
+param set-default PWM_MAIN_DIS1 1000 # tilt
+param set-default PWM_MAIN_DIS2 1500 # elevon
+param set-default PWM_MAIN_DIS3 1500 # elevon
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
index 8c833c0c28..7aa8881dc7 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
+++ b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
@@ -22,6 +22,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+set MAV_TYPE 21
 
 param set-default CBRK_AIRSPD_CHK 162128
 
@@ -59,8 +60,6 @@ param set-default MPC_LAND_SPEED 1.2
 param set-default MPC_TKO_SPEED 2.5
 param set-default MPC_Z_VEL_MAX_UP 3
 
-param set-default PWM_MAIN_RATE 400
-
 param set-default SENS_BOARD_ROT 8
 
 param set-default VT_B_TRANS_DUR  1
@@ -79,8 +78,26 @@ param set-default VT_TRANS_MIN_TM 1.2
 param set-default VT_TRANS_P2_DUR 1.3
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21
 
+
+# MAIN
 set MIXER vtol_convergence
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
 
-set PWM_OUT 1234
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS5 2000 # tilt right servo (2000 up)
+param set-default PWM_MAIN_DIS6 1000 # tilt left servo (1000 up)
+param set-default PWM_MAIN_DIS7 1500 # elevon
+param set-default PWM_MAIN_DIS8 1500 # elevon
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
index 056a7681cb..edde2cc635 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
@@ -22,6 +22,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+set MAV_TYPE 22
 
 param set-default BAT_CAPACITY 23000
 param set-default BAT_N_CELLS 4
@@ -112,15 +113,6 @@ param set-default MPC_YAWRAUTO_MAX 20
 param set-default NAV_DLL_ACT 0
 param set-default NAV_LOITER_RAD 100
 
-param set-default PWM_AUX_DISARM 950
-
-param set-default PWM_MAIN_DIS5 1500
-param set-default PWM_MAIN_DIS6 1500
-param set-default PWM_MAIN_DIS7 900
-param set-default PWM_MAIN_DIS8 900
-
-param set-default PWM_MAIN_RATE 400
-
 param set-default SENS_BOARD_ROT 18
 
 # TELEM2 config
@@ -150,10 +142,34 @@ param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4
 
 param set-default COM_RC_OVERRIDE 0
-set MAV_TYPE 22
 
+
+# MAIN
 set MIXER deltaquad
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1100
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+param set-default PWM_MAIN_RATE4 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 900
+param set-default PWM_MAIN_DIS5 1500 # left elevon
+param set-default PWM_MAIN_DIS6 1500 # right elevon
+param set-default PWM_MAIN_DIS7 900 # pusher
+param set-default PWM_MAIN_DIS8 900 # reverse thrust
+
+# AUX
 set MIXER_AUX pass
 
-set PWM_OUT 1234
-set PWM_AUX_OUT 12345
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
index 3dce88f318..17824e15e7 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
+++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
@@ -22,7 +22,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
+set MAV_TYPE 22
 
 param set-default BAT_N_CELLS 6
 
@@ -105,11 +105,28 @@ param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2
 
-set MAV_TYPE 22
-
+# MAIN
 set MIXER babyshark
-set MIXER_AUX pass
+param set-default PWM_MAIN_MIN5 1100
+param set-default PWM_MAIN_MIN6 1100
+param set-default PWM_MAIN_MIN7 1120
+param set-default PWM_MAIN_MIN8 1100
 
-# Mark outputs for the alternate rate
-# or D-Shot
-set PWM_OUT 5678
+param set-default PWM_MAIN_MAX5 1900
+param set-default PWM_MAIN_MAX6 1900
+param set-default PWM_MAIN_MAX7 1900
+param set-default PWM_MAIN_MAX8 1900
+
+param set-default PWM_MAIN_RATE5 400
+param set-default PWM_MAIN_RATE6 400
+param set-default PWM_MAIN_RATE7 400
+param set-default PWM_MAIN_RATE8 400
+
+param set-default PWM_MAIN_DIS1 1500
+param set-default PWM_MAIN_DIS2 1500
+param set-default PWM_MAIN_DIS3 900 # pusher
+param set-default PWM_MAIN_DIS4 1500
+param set-default PWM_MAIN_DIS5 900
+param set-default PWM_MAIN_DIS6 900
+param set-default PWM_MAIN_DIS7 900
+param set-default PWM_MAIN_DIS8 900
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard b/ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard
new file mode 100644
index 0000000000..6c48a1ddd6
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard
@@ -0,0 +1,53 @@
+#!/bin/sh
+#
+# @name Generic Quadplane VTOL (PWM14)
+#
+# @type Standard VTOL
+# @class VTOL
+#
+# @maintainer
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 Aileron 1
+# @output MAIN6 Aileron 2
+# @output MAIN7 Elevator
+# @output MAIN8 Rudder
+# @output MAIN9 Pusher motor
+#
+# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+set MAV_TYPE 22
+
+param set-default VT_TYPE 2
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+
+# MAIN
+set MIXER quad_x_vtol_AAERT
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1100
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 1900
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 900
+param set-default PWM_MAIN_DIS5 1500
+param set-default PWM_MAIN_DIS6 1500
+param set-default PWM_MAIN_DIS7 1500
+param set-default PWM_MAIN_DIS8 1500
+param set-default PWM_MAIN_DIS9 900
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo b/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
index 6daf766136..a1f0c20d98 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
+++ b/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
@@ -23,18 +23,21 @@
 # @board bitcraze_crazyflie exclude
 #
 
+. ${R}etc/init.d/rc.mc_octo_defaults
 . ${R}etc/init.d/rc.vtol_defaults
 
-
-param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
+set MAV_TYPE 22
 
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 12345678
 param set-default VT_FW_MOT_OFFID 12345678
-set MAV_TYPE 22
 
-set MIXER octo_cox
+# MAIN set by rc.mc_octo_defaults
+
+# AUX
 set MIXER_AUX vtol_AAERT
-
-set PWM_OUT 12345678
+param set-default PWM_AUX_DIS1 1500
+param set-default PWM_AUX_DIS2 1500
+param set-default PWM_AUX_DIS3 1500
+param set-default PWM_AUX_DIS4 1500
+param set-default PWM_AUX_DIS5 900 # throttle
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
index 23ea7fb2c9..5a4dca5ec3 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
@@ -18,13 +18,26 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
 
 param set-default MAV_TYPE 19
+
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS5 1500 # right elevon
+param set-default PWM_MAIN_DIS6 1500 # left elevon
+
+
 set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo
-
-set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+ b/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+
index eb02d83734..631a9695f2 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+
+++ b/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+
@@ -19,4 +19,22 @@
 
 set MIXER tri_y_yaw+
 
-set PWM_OUT 1234
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1000
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 2000
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+param set-default PWM_MAIN_RATE4 50
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 1500
diff --git a/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw- b/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-
index ad36ed08c0..135942fadb 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-
+++ b/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-
@@ -19,4 +19,22 @@
 
 set MIXER tri_y_yaw-
 
-set PWM_OUT 1234
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1000
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 2000
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+param set-default PWM_MAIN_RATE4 50
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 1500
diff --git a/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli b/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
index 3113c8cc41..c3dce2b27e 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
+++ b/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
@@ -17,8 +17,8 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
-set MIXER coax
 
+set MIXER coax
 
 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.17
@@ -38,17 +38,5 @@ param set-default MC_YAWRATE_FF 0
 
 param set-default NAV_ACC_RAD 2
 
-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_DISARM 900
-param set-default PWM_MAIN_MIN 1075
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_RATE 400
-
 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
-# This is the gimbal pass mixer
-set MIXER_AUX pass
-
-# use PWM parameters for throttle channel
-set PWM_AUX_OUT 1234
-set PWM_OUT 34
diff --git a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
index 0367a747a8..84924e9262 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
+++ b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
@@ -24,11 +24,6 @@ set MAV_TYPE 4
 
 set MIXER blade130
 
-#set PWM_OUT 1234
-
-
-param set-default ATT_BIAS_MAX 0
-
 param set-default CBRK_IO_SAFETY 22027
 
 param set-default MC_ROLL_P 5
@@ -53,5 +48,3 @@ param set-default MC_ACRO_P_MAX 360
 
 param set-default MPC_THR_MIN 0.06
 param set-default MPC_MANTHR_MIN 0.06
-
-param set-default PWM_MAIN_MIN 1075
diff --git a/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 b/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
index 048f4bb1be..f72fdc29e6 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
+++ b/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
@@ -25,13 +25,9 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-
 param set-default BAT_CAPACITY 2500
 param set-default BAT_N_CELLS 3
 
-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
-
 param set-default SENS_BOARD_ROT 8
 
 param set-default FW_AIRSPD_MAX 20
@@ -46,5 +42,6 @@ param set-default FW_R_LIM 40
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
+
 set MIXER TF-AutoG2
 set MIXER_AUX pass
diff --git a/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 b/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
index 975001bc1a..02f5b854f8 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
+++ b/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
@@ -20,13 +20,9 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-
 param set-default BAT_CAPACITY 3300
 param set-default BAT_N_CELLS 3
 
-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
-
 param set-default SENS_BOARD_ROT 4
 
 param set-default FW_AIRSPD_MAX 20
@@ -41,5 +37,6 @@ param set-default FW_R_LIM 40
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
+
 set MIXER TF-G2
 set MIXER_AUX pass
diff --git a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 b/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
index e2ad00c809..1420da34a1 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
+++ b/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
@@ -15,7 +15,6 @@
 
 . ${R}etc/init.d/rc.balloon_defaults
 
-
 param set-default COM_PREARM_MODE 2  # always in prearm state
 param set-default CBRK_IO_SAFETY 22027
 param set-default SDLOG_PROFILE 17
@@ -26,8 +25,8 @@ param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600
 
 param set-default SENS_BOARD_ROT 0
-        param set MAV_TYPE 8  # MAV_TYPE_FREE_BALLOON
 
+param set-default MAV_TYPE 8  # MAV_TYPE_FREE_BALLOON
 
 set MIXER IO_pass
 set MIXER_AUX pass
diff --git a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
index 8274472503..495b3c2ee8 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
+++ b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
@@ -23,10 +23,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
-
 set MIXER AETRFG
 
-# Rate must be set by group (see pwm info).
-# Throttle is in the same group as servos.
+param set-default PWM_MAIN_DIS3 900
diff --git a/ROMFS/px4fmu_common/init.d/airframes/2105_maja b/ROMFS/px4fmu_common/init.d/airframes/2105_maja
index eda8c12d64..76d82eed15 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2105_maja
+++ b/ROMFS/px4fmu_common/init.d/airframes/2105_maja
@@ -39,11 +39,7 @@ param set-default FW_WR_IMAX 0.8
 param set-default FW_WR_P 1
 param set-default FW_W_RMAX 0
 
-# set disarmed value for the ESC
-param set-default PWM_MAIN_DISARM 1000
-
-
 set MIXER AAERTWF
 
 # use PWM parameters for throttle channel
-set PWM_OUT 5
+param set-default PWM_MAIN_DIS5 1000
diff --git a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
index 7639f0b2d2..44cfe2bf3f 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
+++ b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
@@ -39,11 +39,7 @@ param set-default FW_WR_IMAX 0.8
 param set-default FW_WR_P 1
 param set-default FW_W_RMAX 0
 
-# set disarmed value for the ESC
-param set-default PWM_MAIN_DISARM 1000
-
-
 set MIXER AAVVTWFF
 
 # use PWM parameters for throttle channel
-set PWM_OUT 5
+param set-default PWM_MAIN_DIS5 1000
diff --git a/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon b/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
index 1f4825048f..d8ac4dadb0 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
+++ b/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
@@ -40,13 +40,10 @@ param set-default FW_WR_IMAX 0.8
 param set-default FW_WR_P 1
 param set-default FW_W_RMAX 0
 
-# set disarmed value for the ESC
-param set-default PWM_MAIN_DISARM 1000
-
 # The Mini Talon does not have a wheel and
 # no flaps. I leave them here because the mixer
 # computes also wheel and flap controls.
 set MIXER AAVVTWFF_vtail
 
 # use PWM parameters for throttle channel
-set PWM_OUT 5
+param set-default PWM_MAIN_DIS5 1000
diff --git a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
index 37eddc6d7d..dc8a9e88bd 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
+++ b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
@@ -27,23 +27,68 @@
 
 set VEHICLE_TYPE mc
 
-
 param set-default NAV_ACC_RAD 2
 
-param set-default PWM_AUX_RATE 400
-param set-default PWM_AUX_DISARM 900
-param set-default PWM_AUX_MIN 1075
-param set-default PWM_AUX_MAX 1950
-
-param set-default PWM_MAIN_MIN 1075
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_RATE 400
-
 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
+
+# MAIN
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1100
+param set-default PWM_MAIN_MIN5 1100
+param set-default PWM_MAIN_MIN6 1100
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 1900
+param set-default PWM_MAIN_MAX5 1900
+param set-default PWM_MAIN_MAX6 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+param set-default PWM_MAIN_RATE4 400
+param set-default PWM_MAIN_RATE5 400
+param set-default PWM_MAIN_RATE6 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 900
+param set-default PWM_MAIN_DIS5 900
+param set-default PWM_MAIN_DIS6 900
+
+# AUX
+param set-default PWM_AUX_MIN1 1100
+param set-default PWM_AUX_MIN2 1100
+param set-default PWM_AUX_MIN3 1100
+param set-default PWM_AUX_MIN4 1100
+param set-default PWM_AUX_MIN5 1100
+param set-default PWM_AUX_MIN6 1100
+
+param set-default PWM_AUX_MAX1 1900
+param set-default PWM_AUX_MAX2 1900
+param set-default PWM_AUX_MAX3 1900
+param set-default PWM_AUX_MAX4 1900
+param set-default PWM_AUX_MAX5 1900
+param set-default PWM_AUX_MAX6 1900
+
+param set-default PWM_AUX_RATE1 400
+param set-default PWM_AUX_RATE2 400
+param set-default PWM_AUX_RATE3 400
+param set-default PWM_AUX_RATE4 400
+param set-default PWM_AUX_RATE5 400
+param set-default PWM_AUX_RATE6 400
+
+param set-default PWM_AUX_DIS1 900
+param set-default PWM_AUX_DIS2 900
+param set-default PWM_AUX_DIS3 900
+param set-default PWM_AUX_DIS4 900
+param set-default PWM_AUX_DIS5 900
+param set-default PWM_AUX_DIS6 900
+
 set MIXER dodeca_top_cox
 set MIXER_AUX dodeca_bottom_cox
-
-# Need to set all 8 channels
-set PWM_OUT 12345678
-set PWM_AUX_OUT 123456
diff --git a/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship b/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship
index a040702c07..76df30eb8a 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship
+++ b/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship
@@ -18,6 +18,4 @@
 param set-default COM_PREARM_MODE 2
 param set-default CBRK_IO_SAFETY 22027
 
-
 set MIXER cloudship
-set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing b/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing
index 4b5ee877d6..4b2ecb16b4 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing
+++ b/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing
@@ -21,3 +21,5 @@
 . ${R}etc/init.d/rc.fw_defaults
 
 set MIXER fw_generic_wing
+
+param set-default PWM_MAIN_DIS4 1000
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
index d902b960eb..78511599d2 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
+++ b/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
@@ -9,10 +9,6 @@
 # @output MAIN2 right aileron
 # @output MAIN4 throttle
 #
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
@@ -41,10 +37,8 @@ param set-default FW_RR_FF 0.6
 param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.04
 
-param set-default PWM_MAIN_DISARM 1000
-
 
 set MIXER fw_generic_wing
 
 # Provide ESC a constant 1000 us pulse while disarmed
-set PWM_OUT 4
+param set-default PWM_MAIN_DIS4 1000
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3031_phantom b/ROMFS/px4fmu_common/init.d/airframes/3031_phantom
index 0b2a594768..8e04e54190 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3031_phantom
+++ b/ROMFS/px4fmu_common/init.d/airframes/3031_phantom
@@ -11,10 +11,6 @@
 # @output MAIN2 right aileron
 # @output MAIN4 throttle
 #
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
@@ -42,8 +38,6 @@ param set-default FW_RR_P 0.08
 param set-default FW_R_LIM 50
 param set-default FW_R_RMAX 50
 
-param set-default PWM_MAIN_DISARM 1000
-
 # Bottom of bay and nominal zero-pitch attitude differ
 # the payload bay is pitched up about 7 degrees
 param set-default SENS_BOARD_Y_OFF 7
@@ -51,5 +45,5 @@ param set-default SENS_BOARD_Y_OFF 7
 
 set MIXER phantom
 
-# Provide ESC a constant 1000 us pulse
-set PWM_OUT 4
+# Provide ESC a constant 1000 us pulse while disarmed
+param set-default PWM_MAIN_DIS4 1000
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing b/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
index ddb33dbfd5..7021f1d5e1 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
+++ b/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
@@ -41,8 +41,6 @@ param set-default FW_PR_FF 0.35
 param set-default FW_RR_FF 0.6
 param set-default FW_RR_P 0.04
 
-param set-default PWM_MAIN_DISARM 1000
-
 
 # Configure this as plane.
 set MAV_TYPE 1
@@ -50,5 +48,5 @@ set MAV_TYPE 1
 # Set mixer.
 set MIXER wingwing
 
-# Provide ESC a constant 1000 us pulse.
-set PWM_OUT 4
+# Provide ESC a constant 1000 us pulse while disarmed
+param set-default PWM_MAIN_DIS4 1000
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3034_fx79 b/ROMFS/px4fmu_common/init.d/airframes/3034_fx79
index 192b53a6ca..756d80b460 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3034_fx79
+++ b/ROMFS/px4fmu_common/init.d/airframes/3034_fx79
@@ -27,5 +27,6 @@ param set-default FW_AIRSPD_TRIM 15
 
 param set-default NAV_LOITER_RAD 150
 
-
 set MIXER FX79
+
+param set-default PWM_MAIN_DIS4 1000
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3035_viper b/ROMFS/px4fmu_common/init.d/airframes/3035_viper
index fc8998e1d8..1c8c0be359 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3035_viper
+++ b/ROMFS/px4fmu_common/init.d/airframes/3035_viper
@@ -21,3 +21,5 @@
 . ${R}etc/init.d/rc.fw_defaults
 
 set MIXER Viper
+
+param set-default PWM_MAIN_DIS4 1000
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon b/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
index 0c8f8fdd44..e51dc6d067 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
+++ b/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
@@ -43,14 +43,10 @@ param set-default FW_R_LIM 40
 param set-default FW_R_RMAX 50
 param set-default FW_R_TC 0.3
 
-param set-default PWM_MAIN_DISARM 1000
+param set-default PWM_MAIN_DIS4 1000
 
 # Bottom of bay and nominal zero-pitch attitude differ
 # the payload bay is pitched up about 7 degrees
 param set-default SENS_BOARD_Y_OFF 11.9
 
-
 set MIXER phantom
-
-# Provide ESC a constant 1000 us pulse
-set PWM_OUT 4
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod b/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod
index 648b4db5ca..549e73f630 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod
+++ b/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod
@@ -80,10 +80,8 @@ param set-default FW_RR_P 0.05
 # Roll Integrator Anti-Windup
 param set-default FW_RR_IMAX 0.2
 
-param set-default PWM_MAIN_DISARM 1000
-
 
 set MIXER fw_generic_wing.main.mix
 
 # Provide ESC a constant 1000 us pulse
-set PWM_OUT 4
+param set-default PWM_MAIN_DIS4 1000
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
index d0cbc03682..a767296ee0 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
+++ b/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
@@ -21,7 +21,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-
 param set-default FW_AIRSPD_MAX 25
 param set-default FW_AIRSPD_MIN 12.5
 param set-default FW_AIRSPD_TRIM 16.5
@@ -60,9 +59,7 @@ param set-default NAV_LOITER_RAD 30
 
 param set-default PWM_MAIN_REV1 1
 param set-default PWM_MAIN_REV2 1
-param set-default PWM_MAIN_MIN 900
-param set-default PWM_MAIN_MAX 2100
-
+# Provide ESC a constant 1000 us pulse
+param set-default PWM_MAIN_DIS4 1000
 
 set MIXER caipi
-set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x b/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x
index cfa2ab089b..3e5e493dea 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x
+++ b/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x
@@ -20,8 +20,4 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-
-set PWM_OUT 1234
+. ${R}etc/init.d/rc.mc_quad_defaults
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5 b/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
index ef87133ba2..0fed5afc85 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
+++ b/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default MC_ROLL_P 8
 param set-default MC_ROLLRATE_P 0.08
@@ -32,5 +28,3 @@ param set-default MC_YAWRATE_D 0
 
 param set-default MPC_THR_MIN 0.06
 param set-default MPC_MANTHR_MIN 0.06
-
-param set-default PWM_MAIN_MIN 1075
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4009_qav250 b/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
index 588d735c36..9ce6552e65 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default ATT_BIAS_MAX 0
 
@@ -35,5 +31,3 @@ param set-default MC_YAWRATE_P 0.3
 param set-default MC_YAWRATE_I 0.2
 param set-default MC_YAWRATE_D 0
 param set-default MPC_THR_MIN 0.06
-
-param set-default PWM_MAIN_MIN 1075
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
index 2245ac8d19..9e61723c61 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
@@ -8,10 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.15
@@ -25,6 +22,3 @@ param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.2
 param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0
-
-# DJI ESCs do not support calibration and need a higher min
-param set-default PWM_MAIN_MIN 1230
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
index 9aa4c79eb2..9208032107 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
@@ -8,10 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.15
@@ -25,6 +22,3 @@ param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.3
 param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0
-
-# DJI ESCs do not support calibration and need a higher min
-param set-default PWM_MAIN_MIN 1230
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4014_s500 b/ROMFS/px4fmu_common/init.d/airframes/4014_s500
index 72629b75e6..78513a7048 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4014_s500
+++ b/ROMFS/px4fmu_common/init.d/airframes/4014_s500
@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default MC_ROLLRATE_P 0.18
 param set-default MC_PITCHRATE_P 0.18
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500 b/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
index 62d2fe9c98..744f35d4f7 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
+++ b/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
@@ -11,14 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
-
-param set-default IMU_GYRO_CUTOFF 30
-param set-default IMU_DGYRO_CUTOFF 30
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default MC_ROLLRATE_P 0.14
 param set-default MC_PITCHRATE_P 0.14
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
index da92a11043..e633374eaa 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
+++ b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
@@ -14,11 +14,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 # System parameters
 # use FMU motor outputs for less delay in the rate control loop
@@ -102,12 +98,11 @@ param set-default MPC_LAND_ALT2 1
 # Navigator Parameters
 param set-default NAV_ACC_RAD 2
 
-# PWM and RC Parameters
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1075
-
 # use oneshot motor output protocol
-param set-default PWM_MAIN_RATE 0
+param set-default PWM_MAIN_RATE1 0
+param set-default PWM_MAIN_RATE2 0
+param set-default PWM_MAIN_RATE3 0
+param set-default PWM_MAIN_RATE4 0
 
 # RTL Parameters
 param set-default RTL_DESCEND_ALT 5
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames b/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
index d28edc165e..62c873c77e 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
+++ b/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
@@ -16,10 +16,7 @@
 # @maintainer Iain Galloway <iain.galloway@nxp.com>
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default IMU_GYRO_CUTOFF 40
 param set-default IMU_DGYRO_CUTOFF 20
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc b/ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc
index 99dbec4609..925937315c 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc
+++ b/ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc
@@ -10,7 +10,7 @@
 # @board px4_fmu-v2 exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults
 . ${R}etc/init.d/rc.ctrlalloc
 
 
@@ -50,7 +50,5 @@ param set-default CA_MC_R3_CT 6.5
 param set-default CA_MC_R3_KM -0.05
 
 set MIXER direct
-set PWM_OUT 1234
 
 set MIXER_AUX direct_aux
-set PWM_AUX_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb b/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb
index a708e32d4d..cfd8238542 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb
+++ b/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb
@@ -16,11 +16,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.1
@@ -34,5 +30,3 @@ param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.2
 param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0
-
-param set-default PWM_MAIN_MIN 1200
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo b/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
index 96f78e8e1a..d5e7dcc2a9 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
+++ b/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
@@ -16,15 +16,14 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 # tuning
 param set-default MC_PITCHRATE_P    0.11
 param set-default MC_ROLLRATE_P     0.11
 param set-default MPC_MANTHR_MIN    0.08
 param set-default MPC_XY_VEL_MAX    3
-param set-default MPC_Z_VEL_MAX_DN     2
+param set-default MPC_Z_VEL_MAX_DN  2
 
 # takeoff, land and RTL settings
 param set-default MIS_TAKEOFF_ALT   4
@@ -84,7 +83,3 @@ param set-default RC5_TRIM          1500
 param set-default MAV_0_RATE 80000
 param set-default MAV_0_MODE 2
 param set-default SER_TEL1_BAUD 921600
-set MIXER quad_x
-
-set PWM_OUT 1234
-set MIXER_AUX none
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad b/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
index 405627f40a..e8953d6684 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.14
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper b/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
index 9d3229bd07..baa2fac5cc 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
+++ b/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
@@ -18,8 +18,9 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults
 
+set MIXER quad_h
 
 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.14
@@ -33,19 +34,5 @@ param set-default MC_YAW_P 4
 
 param set-default NAV_ACC_RAD 2
 
-param set-default PWM_AUX_DISARM 950
-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_MIN 1100
-param set-default PWM_MAIN_MAX 1900
-param set-default PWM_MAIN_RATE 50
-
 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
-
-set MIXER quad_h
-
-set PWM_OUT 1234
-
-set MIXER_AUX pass
-
-set PWM_AUX_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
index beb21c2937..655c37d850 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
+++ b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
@@ -23,6 +23,8 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+# The Whoop uses reversed props
+set MIXER quad_h
 
 param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_USB_CHK 197848
@@ -55,7 +57,3 @@ param set-default SYS_HAS_BARO 0
 param set-default SYS_HAS_MAG 0
 
 param set-default BAT_N_CELLS 2
-# The Whoop uses reversed props
-set MIXER quad_h
-set PWM_OUT 1234
-
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
index 0837d6f783..d6e6f32e8b 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
@@ -10,11 +10,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default MC_ROLL_P 8
 param set-default MC_ROLLRATE_P 0.08
@@ -39,10 +35,6 @@ param set-default MPC_MAN_TILT_MAX 60
 # use thrust curve factor (instead of TPA)
 param set-default THR_MDL_FAC 0.3
 
-param set-default PWM_MAIN_MIN 1075
-# enable one-shot
-param set-default PWM_MAIN_RATE 0
-
 # enable high-rate logging profile (helps with tuning)
 param set-default SDLOG_PROFILE 19
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq b/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
index 40230bb59b..387c3d14b4 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
+++ b/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
@@ -20,14 +20,11 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 set MIXER quad_s250aq
 set MAV_TYPE 2
 
-set PWM_OUT 1234
-
-
 param set-default ATT_BIAS_MAX 0
 
 param set-default CBRK_IO_SAFETY 22027
@@ -52,5 +49,3 @@ param set-default MC_ACRO_P_MAX 360
 
 param set-default MPC_THR_MIN 0.06
 param set-default MPC_MANTHR_MIN 0.06
-
-param set-default PWM_MAIN_MIN 1075
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
index df5fa21481..32fe94cd1f 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
@@ -13,11 +13,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 # The set does not include a battery, but most people will probably use 4S
 param set-default BAT_N_CELLS 4
@@ -48,8 +44,4 @@ param set-default MPC_THR_HOVER 0.25
 param set-default MPC_THR_MIN 0.05
 param set-default MPC_Z_VEL_I_ACC 1.7
 
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1050
-
-param set-default PWM_MAIN_RATE 0
 param set-default THR_MDL_FAC 0.3
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 b/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
index 41a287c4c3..729fb5285d 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
+++ b/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default BAT_N_CELLS 4
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100 b/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
index 7ea158a44a..b61d2bbb3f 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
+++ b/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default BAT_N_CELLS 6
 
@@ -30,5 +26,3 @@ param set-default MC_PITCHRATE_D 0.001
 param set-default MC_YAWRATE_P 0.2
 param set-default MC_YAWRATE_I 0
 param set-default MC_YAWRATE_D 0
-
-param set-default PWM_MAIN_MIN 1200
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
index eb3e0a680f..4792b8c24a 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
+++ b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
@@ -21,10 +21,7 @@
 # @board cuav_x7pro exclude
 #
 
-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 # Attitude & rate gains
 #param set MC_ROLL_P 7
@@ -64,11 +61,11 @@ param set-default IMU_GYRO_CUTOFF 100
 #param set THR_MDL_FAC 0.25
 
 # System
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1100
-param set-default PWM_MAIN_RATE 0
+param set-default PWM_MAIN_RATE1 0
+param set-default PWM_MAIN_RATE2 0
+param set-default PWM_MAIN_RATE3 0
+param set-default PWM_MAIN_RATE4 0
 
-#param set SYS_FMU_TASK 1
 param set-default SENS_BOARD_ROT 10
 
 # EKF2
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4072_draco b/ROMFS/px4fmu_common/init.d/airframes/4072_draco
index 18afd3735f..692027828f 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4072_draco
+++ b/ROMFS/px4fmu_common/init.d/airframes/4072_draco
@@ -20,11 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 # use the Q attitude estimator, it works w/o mag or GPS.
 param set-default SYS_MC_EST_GROUP 3
@@ -65,11 +61,16 @@ param set-default MPC_THR_HOVER 0.25
 param set-default THR_MDL_FAC 0.3
 
 # System
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1180
+param set-default PWM_MAIN_MIN1 1180
+param set-default PWM_MAIN_MIN2 1180
+param set-default PWM_MAIN_MIN3 1180
+param set-default PWM_MAIN_MIN4 1180
 
 # enable one-shot
-param set-default PWM_MAIN_RATE 0
+param set-default PWM_MAIN_RATE1 0
+param set-default PWM_MAIN_RATE2 0
+param set-default PWM_MAIN_RATE3 0
+param set-default PWM_MAIN_RATE4 0
 
 param set-default SENS_BOARD_ROT 2
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
index 3d9a7c34d4..477557013b 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
+++ b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
@@ -21,10 +21,7 @@
 # @maintainer Hyon Lim <lim@uvify.com>
 #
 
-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 # Attitude & rate gains
 #param set MC_ROLL_P 7
@@ -60,11 +57,6 @@ param set-default IMU_GYRO_CUTOFF 100
 # Thrust curve (avoids the need for TPA)
 #param set THR_MDL_FAC 0.25
 
-# Obsolete
-#param set PWM_MAIN_MAX 1950
-#param set PWM_MAIN_MIN 1100
-#param set PWM_MAIN_RATE 0
-
 # Sensors
 param set-default SENS_BOARD_ROT 10
 # Yaw 180
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250 b/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
index 9576fd24be..9f3555c827 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default CBRK_IO_SAFETY 22027
 
@@ -37,9 +33,3 @@ param set-default MC_YAWRATE_D 0
 param set-default MC_ACRO_R_MAX 1000
 param set-default MC_ACRO_P_MAX 1000
 param set-default MC_ACRO_Y_MAX 1000
-
-# param set NAV_RCL_ACT 6 # Lockdown
-
-param set-default PWM_MAIN_MIN 1075
-param set-default PWM_MAIN_RATE 400
-param set-default PWM_MAIN_DISARM 900
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind b/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
index a51335b8fa..f5f559f608 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
+++ b/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
@@ -18,8 +18,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
-set PWM_OUT 1234
-
 
 param set-default BAT_N_CELLS 1
 
@@ -36,6 +34,17 @@ param set-default MC_YAWRATE_P 0.2
 param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0
 
-param set-default PWM_MAIN_DISARM 0
-param set-default PWM_MAIN_MIN 500
-param set-default PWM_MAIN_MAX 2200
+param set-default PWM_MAIN_DIS1 0
+param set-default PWM_MAIN_DIS2 0
+param set-default PWM_MAIN_DIS3 0
+param set-default PWM_MAIN_DIS4 0
+
+param set-default PWM_MAIN_MIN1 500
+param set-default PWM_MAIN_MIN2 500
+param set-default PWM_MAIN_MIN3 500
+param set-default PWM_MAIN_MIN4 500
+
+param set-default PWM_MAIN_MAX1 2200
+param set-default PWM_MAIN_MAX2 2200
+param set-default PWM_MAIN_MAX3 2200
+param set-default PWM_MAIN_MAX4 2200
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor b/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor
index 3fd3f11d74..60c3ea7e28 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor
+++ b/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor
@@ -27,12 +27,9 @@
 #Parameters here:
 param set LED_RGB_MAXBRT 8
 
-
 # Configure this as Quadrotor
 # set MAV_TYPE 14
 
 # Set mixer
 set MIXER tilt_quad
 set MIXER_AUX tilt_quad
-
-set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4250_teal b/ROMFS/px4fmu_common/init.d/airframes/4250_teal
index 117d4037aa..1b1b217eb3 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4250_teal
+++ b/ROMFS/px4fmu_common/init.d/airframes/4250_teal
@@ -20,16 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-echo "Executing 4250_teal script."
-
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
-
-# First thing, reset all params to default... EXCEPT THIS LIST
-param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* CAL_MAG* SENS_BOARD* EKF2_MAGBIAS*
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 # battery
 param set-default BAT_CAPACITY 2750
@@ -44,10 +35,6 @@ param set-default BAT_V_DIV 11.1625
 param set-default BAT_V_EMPTY 3.65
 param set-default BAT_V_OFFS_CURR -0.0045
 
-# sensor calibration
-param set-default CAL_MAG_SIDES 63
-param set-default SENS_BOARD_ROT 0
-
 # circuit breakers
 param set-default CBRK_IO_SAFETY 22027
 param set-default CBRK_USB_CHK 197848
@@ -169,11 +156,21 @@ param set-default NAV_ACC_RAD 2.5
 param set-default NAV_RCL_ACT 1
 
 # pwm control
-param set-default PWM_MAIN_DISARM 900
-param set-default PWM_MAIN_MAX 1850
-param set-default PWM_MAIN_MIN 1075
+param set-default PWM_MAIN_MIN1 1075
+param set-default PWM_MAIN_MIN2 1075
+param set-default PWM_MAIN_MIN3 1075
+param set-default PWM_MAIN_MIN4 1075
+
+param set-default PWM_MAIN_MAX1 1850
+param set-default PWM_MAIN_MAX2 1850
+param set-default PWM_MAIN_MAX3 1850
+param set-default PWM_MAIN_MAX4 1850
+
 # Oneshot125
-param set-default PWM_MAIN_RATE 0
+param set-default PWM_MAIN_RATE1 0
+param set-default PWM_MAIN_RATE2 0
+param set-default PWM_MAIN_RATE3 0
+param set-default PWM_MAIN_RATE4 0
 
 # rtl
 param set-default RTL_DESCEND_ALT 5
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4500_clover4 b/ROMFS/px4fmu_common/init.d/airframes/4500_clover4
index 91a5ef23f0..c8d6b25e9d 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4500_clover4
+++ b/ROMFS/px4fmu_common/init.d/airframes/4500_clover4
@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default MC_PITCHRATE_P 0.087
 param set-default MC_PITCHRATE_I 0.037
@@ -25,6 +21,7 @@ param set-default MC_ROLLRATE_P 0.087
 param set-default MC_ROLLRATE_I 0.037
 param set-default MC_ROLLRATE_D 0.0044
 param set-default MC_ROLL_P 8.5
+
 param set-default MPC_XY_VEL_P_ACC 2.2
 param set-default MPC_XY_VEL_D_ACC 0.26
 param set-default MPC_XY_P 1.1
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
index da3c4bfac0..42c565b49c 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
+++ b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
@@ -17,7 +17,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x_cw
-set PWM_OUT 1234
 
 param set-default BAT_N_CELLS 1
 param set-default BAT_CAPACITY 240
@@ -58,21 +57,31 @@ param set-default MPC_MAX_FLOW_HGT 3
 
 param set-default NAV_RCL_ACT 3
 
-param set-default PWM_MAIN_DISARM 0
-param set-default PWM_MAIN_MIN 0
-param set-default PWM_MAIN_MAX 255
+param set-default PWM_MAIN_MIN1 0
+param set-default PWM_MAIN_MIN2 0
+param set-default PWM_MAIN_MIN3 0
+param set-default PWM_MAIN_MIN4 0
+
+param set-default PWM_MAIN_MAX1 255
+param set-default PWM_MAIN_MAX2 255
+param set-default PWM_MAIN_MAX3 255
+param set-default PWM_MAIN_MAX4 255
 
 # Run the motors at 328.125 kHz (recommended)
-param set-default PWM_MAIN_RATE 3921
+param set-default PWM_MAIN_RATE1 3921
+param set-default PWM_MAIN_RATE2 3921
+param set-default PWM_MAIN_RATE3 3921
+param set-default PWM_MAIN_RATE4 3921
+
+param set-default PWM_MAIN_DIS1 0
+param set-default PWM_MAIN_DIS2 0
+param set-default PWM_MAIN_DIS3 0
+param set-default PWM_MAIN_DIS4 0
 
 param set-default SDLOG_PROFILE 1
 
 param set-default SENS_FLOW_MINRNG 0.05
 
-set PWM_MAIN_DISARM none
-set PWM_MAIN_MAX none
-set PWM_MAIN_MIN none
-
 syslink start
 mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
index 67fb4406ce..23893dcc5b 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
+++ b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
@@ -17,7 +17,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x_cw
-set PWM_OUT 1234
 
 param set-default SYS_MC_EST_GROUP 2
 param set-default SYS_HAS_MAG 0
@@ -59,21 +58,30 @@ param set-default MPC_MAX_FLOW_HGT 3
 
 param set-default NAV_RCL_ACT 3
 
-param set-default PWM_MAIN_DISARM 0
-param set-default PWM_MAIN_MIN 20
-param set-default PWM_MAIN_MAX 255
+param set-default PWM_MAIN_MIN1 0
+param set-default PWM_MAIN_MIN2 0
+param set-default PWM_MAIN_MIN3 0
+param set-default PWM_MAIN_MIN4 0
+
+param set-default PWM_MAIN_MAX1 255
+param set-default PWM_MAIN_MAX2 255
+param set-default PWM_MAIN_MAX3 255
+param set-default PWM_MAIN_MAX4 255
 
 # Run the motors at 328.125 kHz (recommended)
-param set-default PWM_MAIN_RATE 3921
+param set-default PWM_MAIN_RATE1 3921
+param set-default PWM_MAIN_RATE2 3921
+param set-default PWM_MAIN_RATE3 3921
+param set-default PWM_MAIN_RATE4 3921
+
+param set-default PWM_MAIN_DIS1 0
+param set-default PWM_MAIN_DIS2 0
+param set-default PWM_MAIN_DIS3 0
+param set-default PWM_MAIN_DIS4 0
 
 param set-default SDLOG_PROFILE 1
 
 param set-default SENS_FLOW_MINRNG 0.05
 
-
-set PWM_MAIN_DISARM none
-set PWM_MAIN_MAX none
-set PWM_MAIN_MIN none
-
 syslink start
 mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
index 41242a98c5..cf06e4ca48 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
+++ b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
@@ -15,7 +15,6 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-
 param set-default BAT_N_CELLS 2
 
 param set-default EKF2_ANGERR_INIT 0.01
@@ -45,13 +44,10 @@ param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 
 # Provide ESC a constant 1500 us pulse
-param set-default PWM_MAIN_DISARM 1500
-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_MIN 1000
+param set-default PWM_MAIN_DIS3 1500
+
 # Configure this as rover
 set MAV_TYPE 10
 
 # Set mixer
 set MIXER rover_generic
-
-set PWM_MAIN_REV2 1
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
index 5652765a67..76ae3a087d 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
+++ b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
@@ -18,7 +18,6 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-
 param set-default BAT_N_CELLS 4
 
 param set-default EKF2_GBIAS_INIT 0.01
@@ -57,11 +56,8 @@ param set-default NAV_ACC_RAD 0.5
 
 # Provide ESC a constant 1500 us pulse, which corresponds to
 # idle on the Roboclaw motor controller on the Aion R1
-param set-default PWM_MAIN_DISARM 1500
 param set-default PWM_MAIN_DIS0 1500
 param set-default PWM_MAIN_DIS1 1500
-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_MIN 1000
 
 # Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
@@ -83,5 +79,3 @@ set MAV_TYPE 10
 
 # Set mixer
 set MIXER generic_diff_rover
-
-set PWM_MAIN_REV2 1
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx b/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
index fd6f195605..bdc34f3bed 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
+++ b/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
@@ -20,7 +20,6 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-
 param set-default BAT_N_CELLS 2
 
 param set-default EKF2_GBIAS_INIT 0.01
@@ -53,13 +52,12 @@ param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 
 # Provide ESC a constant 1500 us pulse to idle
-param set-default PWM_MAIN_DISARM 1500
 param set-default PWM_MAIN_DIS3 1485
 param set-default PWM_MAIN_DIS4 1485
+
 param set-default PWM_MAIN_FAIL3 1485
 param set-default PWM_MAIN_FAIL4 1485
-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_MIN 1000
+
 param set-default PWM_MAIN_MIN3 970
 param set-default PWM_MAIN_MIN4 970
 
@@ -71,5 +69,3 @@ set MAV_TYPE 10
 
 # Set mixer
 set MIXER rover_diff_and_servo
-
-set PWM_MAIN_REV2 1
diff --git a/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+ b/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+
index 5e5df33a4c..240ab49fd6 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+
+++ b/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+
@@ -22,8 +22,6 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 set MIXER quad_+
-
-set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
index 705d185a6a..9d7141d068 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
+++ b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
@@ -13,7 +13,6 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-
 #Set data link loss failsafe mode (0: disabled)
 param set-default NAV_DLL_ACT 0
 
@@ -22,6 +21,5 @@ param set-default CBRK_AIRSPD_CHK 162128
 
 #param set CBRK_GPSFAIL 240024
 set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
 
 set MIXER uuv_x
diff --git a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
index 360d700fd6..aaf1e5134a 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
+++ b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
@@ -13,7 +13,6 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-
 #Set data link loss failsafe mode (0: disabled)
 param set-default NAV_DLL_ACT 0
 
@@ -22,6 +21,5 @@ param set-default CBRK_AIRSPD_CHK 162128
 
 #param set CBRK_GPSFAIL 240024
 set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
 
 set MIXER uuv_x
diff --git a/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy b/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy
index 69384284be..e26a289fd7 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy
+++ b/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy
@@ -22,7 +22,6 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-
 #Set data link loss failsafe mode (0: disabled)
 param set-default NAV_DLL_ACT 0
 
@@ -41,7 +40,5 @@ param set-default BAT1_CAPACITY 18000
 param set-default BAT1_V_DIV 11.0
 param set-default BAT1_N_CELLS 4
 param set-default BAT_V_OFFS_CURR 0.33
-set PWM_OUT 12345678
-# set MIXER IO_pass
-set MIXER vectored6dof
 
+set MIXER vectored6dof
diff --git a/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x b/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x
index 893bb991c9..daa92c75fd 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x
+++ b/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x
@@ -21,9 +21,6 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_hex_defaults
 
-set MIXER hexa_x
-
-# Need to set all 8 channels
-set PWM_OUT 12345678
+# MAIN set by rc.mc_hex_defaults
diff --git a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
index 1eefccbfb1..534cee7dff 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
+++ b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
@@ -25,10 +25,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-set MIXER hexa_x
-set PWM_OUT 12345678
-
+. ${R}etc/init.d/rc.mc_hex_defaults
 
 ###############################################
 # Attitude & rate gains
@@ -80,12 +77,6 @@ param set-default IMU_GYRO_CUTOFF 100
 # Thrust curve (avoids the need for TPA)
 param set-default THR_MDL_FAC 0.25
 
-# System
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1100
-param set-default PWM_MAIN_DIS5 980
-param set-default PWM_MAIN_DIS6 980
-
 # DSHOT
 param set-default DSHOT_CONFIG 600
 
@@ -112,9 +103,6 @@ param set-default SENS_FLOW_ROT 2
 param set-default CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 3
 
-# PWM ONESHOT
-param set-default PWM_MAIN_RATE 0
-
 # Battery
 param set-default BAT_SOURCE 0
 param set-default BAT_N_CELLS 4
@@ -132,3 +120,6 @@ param set-default MAV_1_MODE 2
 param set-default MAV_1_FORWARD 1
 param set-default MAV_1_RATE 800000
 param set-default SER_TEL2_BAUD 921600
+
+
+# MAIN set by rc.mc_hex_defaults
diff --git a/ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc b/ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc
index 00c31ab2ec..c479efcf9f 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc
+++ b/ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc
@@ -10,7 +10,7 @@
 # @board px4_fmu-v2 exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_hex_defaults
 . ${R}etc/init.d/rc.ctrlalloc
 
 
@@ -67,8 +67,8 @@ param set-default CA_MC_R5_PY -0.1375
 param set-default CA_MC_R5_CT 6.5
 param set-default CA_MC_R5_KM -0.05
 
+# MAIN
 set MIXER direct
-set PWM_OUT 123456
 
+# AUX
 set MIXER_AUX direct_aux
-set PWM_AUX_OUT 123456
diff --git a/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+
index 8f9e6f7cf9..e2794ab389 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+
+++ b/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+
@@ -21,9 +21,6 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_hex_defaults
 
 set MIXER hexa_+
-
-# Need to set all 8 channels
-set PWM_OUT 12345678
diff --git a/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x b/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x
index e69776f314..96e1de1c79 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x
+++ b/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x
@@ -23,8 +23,6 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_octo_defaults
 
-set MIXER octo_x
-
-set PWM_OUT 12345678
+# MAIN set by rc.mc_octo_defaults
diff --git a/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+ b/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+
index b61a1f95b0..4909f10482 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+
+++ b/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+
@@ -23,8 +23,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_octo_defaults
 
+# MAIN set by rc.mc_octo_defaults
 set MIXER octo_+
-
-set PWM_OUT 12345678
diff --git a/ROMFS/px4fmu_common/init.d/rc.airship_defaults b/ROMFS/px4fmu_common/init.d/rc.airship_defaults
index 25ac61e212..f626d46461 100644
--- a/ROMFS/px4fmu_common/init.d/rc.airship_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.airship_defaults
@@ -11,4 +11,3 @@ set VEHICLE_TYPE airship
 # This is the gimbal pass mixer.
 #
 set MIXER_AUX pass
-set PWM_AUX_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/rc.boat_defaults b/ROMFS/px4fmu_common/init.d/rc.boat_defaults
index 54bb4d0ccd..2e61f987fa 100644
--- a/ROMFS/px4fmu_common/init.d/rc.boat_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.boat_defaults
@@ -19,21 +19,7 @@ param set-default NAV_ACC_RAD 2
 # Temporary.
 param set-default NAV_FW_ALT_RAD 1000
 
-#
-# Enable servo output on pins 3 and 4 (steering and thrust)
-# but also include 1+2 as they form together one output group
-# and need to be set together.
-#
-set PWM_OUT 1234
-
-#
-# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
-# may damage analog servos.
-#
-set PWM_MAIN_RATE 50
-
 #
 # This is the gimbal pass mixer.
 #
 set MIXER_AUX pass
-set PWM_AUX_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index 94828ac47c..32740222a8 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -45,8 +45,6 @@ param set-default MIS_DIST_WPS 5000
 param set-default MIS_LTRMIN_ALT 25
 param set-default MIS_TAKEOFF_ALT 25
 
-param set-default PWM_MAIN_RATE 50
-
 #
 # FW takeoff acceleration can easily exceed ublox GPS 2G default.
 #
@@ -56,6 +54,3 @@ param set-default GPS_UBX_DYNMODEL 8
 # This is the gimbal pass mixer.
 #
 set MIXER_AUX pass
-
-set PWM_AUX_RATE 50
-set PWM_AUX_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
index 7a9fc56414..00ba980918 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -14,15 +14,4 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
 
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1075
-param set-default PWM_MAIN_RATE 400
-
 param set-default GPS_UBX_DYNMODEL 6
-
-#
-# This is the gimbal pass mixer.
-#
-set MIXER_AUX pass
-
-set PWM_AUX_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_hex_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_hex_defaults
new file mode 100644
index 0000000000..a93bb226cb
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_hex_defaults
@@ -0,0 +1,38 @@
+#!/bin/sh
+#
+# Multicopter default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+# MAIN
+set MIXER hexa_x
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1100
+param set-default PWM_MAIN_MIN5 1100
+param set-default PWM_MAIN_MIN6 1100
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 1900
+param set-default PWM_MAIN_MAX5 1900
+param set-default PWM_MAIN_MAX6 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+param set-default PWM_MAIN_RATE4 400
+param set-default PWM_MAIN_RATE5 400
+param set-default PWM_MAIN_RATE6 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 900
+param set-default PWM_MAIN_DIS5 900
+param set-default PWM_MAIN_DIS6 900
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_octo_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_octo_defaults
new file mode 100644
index 0000000000..487bd750b5
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_octo_defaults
@@ -0,0 +1,46 @@
+#!/bin/sh
+#
+# Multicopter default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+# MAIN
+set MIXER octo_x
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1100
+param set-default PWM_MAIN_MIN5 1100
+param set-default PWM_MAIN_MIN6 1100
+param set-default PWM_MAIN_MIN7 1100
+param set-default PWM_MAIN_MIN8 1100
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 1900
+param set-default PWM_MAIN_MAX5 1900
+param set-default PWM_MAIN_MAX6 1900
+param set-default PWM_MAIN_MAX7 1900
+param set-default PWM_MAIN_MAX8 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+param set-default PWM_MAIN_RATE4 400
+param set-default PWM_MAIN_RATE5 400
+param set-default PWM_MAIN_RATE6 400
+param set-default PWM_MAIN_RATE7 400
+param set-default PWM_MAIN_RATE8 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 900
+param set-default PWM_MAIN_DIS5 900
+param set-default PWM_MAIN_DIS6 900
+param set-default PWM_MAIN_DIS7 900
+param set-default PWM_MAIN_DIS8 900
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_quad_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_quad_defaults
new file mode 100644
index 0000000000..c7e8247df5
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_quad_defaults
@@ -0,0 +1,30 @@
+#!/bin/sh
+#
+# Multicopter default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+# MAIN
+set MIXER quad_x
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1100
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+param set-default PWM_MAIN_RATE4 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 900
diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_defaults b/ROMFS/px4fmu_common/init.d/rc.rover_defaults
index 26db6d098c..baf52f4f93 100644
--- a/ROMFS/px4fmu_common/init.d/rc.rover_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.rover_defaults
@@ -20,21 +20,7 @@ param set-default NAV_LOITER_RAD 2
 # Temporary.
 param set-default NAV_FW_ALT_RAD 1000
 
-#
-# Enable servo output on pins 3 and 4 (steering and thrust)
-# but also include 1+2 as they form together one output group
-# and need to be set together.
-#
-set PWM_OUT 1234
-
-#
-# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
-# may damage analog servos.
-#
-set PWM_MAIN_RATE 50
-
 #
 # This is the gimbal pass mixer.
 #
 set MIXER_AUX pass
-set PWM_AUX_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/rc.uuv_defaults b/ROMFS/px4fmu_common/init.d/rc.uuv_defaults
index 6d525fd0e1..a6359c0909 100644
--- a/ROMFS/px4fmu_common/init.d/rc.uuv_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.uuv_defaults
@@ -7,23 +7,22 @@
 
 set VEHICLE_TYPE uuv
 
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1050
-param set-default PWM_MAIN_DISARM 1500
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1100
 
-#
-# PWM Hz - 50 Hz is the normal rate in RC cars, boats etc,
-# higher rates may damage analog servos.
-#
-set PWM_MAIN_RATE 50
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 1900
 
-#
-# Enable servo output on pins 1-4
-set PWM_OUT 1234
+param set-default PWM_MAIN_DIS1 1500
+param set-default PWM_MAIN_DIS2 1500
+param set-default PWM_MAIN_DIS3 1500
+param set-default PWM_MAIN_DIS4 1500
 
 #
 # This is the gimbal pass mixer.
 #
 set MIXER_AUX pass
-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 2d229fddb3..10cd5f7fd6 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@@ -27,9 +27,6 @@ param set-default MPC_YAW_MODE 4
 
 param set-default NAV_ACC_RAD 3
 
-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 400
-
 param set-default RTL_TYPE 1
 
 param set-default WV_EN 1
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 0832c4f6d8..f2097847e0 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -38,12 +38,6 @@ set MIXER_FILE none
 set MIXER_EXTRA none
 set OUTPUT_MODE none
 set PARAM_FILE /fs/microsd/params
-set PWM_OUT none
-set PWM_MAIN_RATE p:PWM_MAIN_RATE
-set PWM_AUX_OUT none
-set PWM_AUX_RATE p:PWM_AUX_RATE
-set PWM_EXTRA_OUT none
-set PWM_EXTRA_RATE p:PWM_EXTRA_RATE
 set EXTRA_MIXER_MODE none
 set RC_INPUT_ARGS ""
 set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
@@ -561,12 +555,6 @@ unset MIXER_AUX
 unset MIXER_FILE
 unset OUTPUT_MODE
 unset PARAM_FILE
-unset PWM_AUX_OUT
-unset PWM_AUX_RATE
-unset PWM_MAIN_RATE
-unset PWM_OUT
-unset PWM_EXTRA_OUT
-unset PWM_EXTRA_RATE
 unset RC_INPUT_ARGS
 unset SDCARD_MIXERS_PATH
 unset STARTUP_TUNE
diff --git a/ROMFS/px4fmu_common/mixers/CMakeLists.txt b/ROMFS/px4fmu_common/mixers/CMakeLists.txt
index df861065a2..6f87881c84 100644
--- a/ROMFS/px4fmu_common/mixers/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/mixers/CMakeLists.txt
@@ -42,7 +42,6 @@ px4_add_romfs_files(
 	caipi.main.mix
 	CCPM.main.mix
 	claire.aux.mix
-	claire.main.mix
 	cloudship.main.mix
 	coax.main.mix
 	delta.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/TF-AutoG2.main.mix b/ROMFS/px4fmu_common/mixers/TF-AutoG2.main.mix
index bed0fedee2..ffa5214d78 100644
--- a/ROMFS/px4fmu_common/mixers/TF-AutoG2.main.mix
+++ b/ROMFS/px4fmu_common/mixers/TF-AutoG2.main.mix
@@ -11,13 +11,13 @@ Two scalers total (output, roll).
 M: 2
 O: 10000 10000 0 -10000 10000
 S: 0 0 -10000 -10000 0 -10000 10000
-S: 0 1  10000  10000      0 -10000  10000
+S: 0 1  10000  10000 0 -10000  10000
 
 
 M: 2
 O: 10000 10000 0 -10000 10000
 S: 0 0 -10000 -10000 0 -10000 10000
-S: 0 1 -10000 -10000      0 -10000  10000
+S: 0 1 -10000 -10000 0 -10000  10000
 
 
 CH3: Elevator, prerotator mixer
diff --git a/ROMFS/px4fmu_common/mixers/claire.aux.mix b/ROMFS/px4fmu_common/mixers/claire.aux.mix
index 7213daf2a2..9333fa8cc6 100644
--- a/ROMFS/px4fmu_common/mixers/claire.aux.mix
+++ b/ROMFS/px4fmu_common/mixers/claire.aux.mix
@@ -1,23 +1,13 @@
 # mixer for the CruiseAder Claire tilt mechansim servo and elevons
-
 =======================================================================
 
-
 Tilt mechanism servo mixer
-
 ---------------------------
-
 M: 1
-
-
 S: 1 4  10000  10000      0 -10000  10000
 
-
-
 Elevon mixers
-
 -------------
-
 M: 2
 
 S: 1 0   7500   7500      0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/claire.main.mix b/ROMFS/px4fmu_common/mixers/claire.main.mix
deleted file mode 100644
index af84d3d8a1..0000000000
--- a/ROMFS/px4fmu_common/mixers/claire.main.mix
+++ /dev/null
@@ -1,7 +0,0 @@
-# CruiseAder Claire Main Multirotor mixer for PX4FMU
-
-#
-
-#===========================
-
-R: 4x
diff --git a/posix-configs/bbblue/px4.config b/posix-configs/bbblue/px4.config
index afe9f4bc57..1217df4f87 100644
--- a/posix-configs/bbblue/px4.config
+++ b/posix-configs/bbblue/px4.config
@@ -21,8 +21,6 @@ param set SYS_AUTOSTART 4011
 # http://www.dji.com/e2000/info indicates E2000 Operating Pulse Width: 1120 to 1920 μs
 # It seems that all latest DJI ESC have the same range.
 # Note that the setting here applies to all PWM channels.
-# param set PWM_MAIN_MIN 1120
-# param set PWM_MAIN_MAX 1920
 # Not using DJI 430 LITE ESC anymore due to its hiccups:
 #    each random motor stop would cause a scary flip in the fly
 # Replacing with 4 BLHeli32 (Wraith32 V2) ESCs solved the main problem in BBBlue porting
diff --git a/posix-configs/bbblue/px4_fw.config b/posix-configs/bbblue/px4_fw.config
index 15d506d48a..7610404bc4 100644
--- a/posix-configs/bbblue/px4_fw.config
+++ b/posix-configs/bbblue/px4_fw.config
@@ -21,8 +21,6 @@ param set SYS_AUTOSTART 4011
 # http://www.dji.com/e2000/info indicates E2000 Operating Pulse Width: 1120 to 1920 μs
 # It seems that all latest DJI ESC have the same range.
 # Note that the setting here applies to all PWM channels.
-# param set PWM_MAIN_MIN 1120
-# param set PWM_MAIN_MAX 1920
 # Not using DJI 430 LITE ESC anymore due to its hiccups:
 #    each random motor stop would cause a scary flip in the fly
 # Replacing with 4 BLHeli32 (Wraith32 V2) ESCs solved the main problem in BBBlue porting
diff --git a/src/drivers/pwm_out/PWMOut.cpp b/src/drivers/pwm_out/PWMOut.cpp
index 6ea6a6a052..e5cab04ec4 100644
--- a/src/drivers/pwm_out/PWMOut.cpp
+++ b/src/drivers/pwm_out/PWMOut.cpp
@@ -659,37 +659,17 @@ void PWMOut::update_params()
 {
 	updateParams();
 
-	int32_t pwm_min_default = PWM_DEFAULT_MIN;
-	int32_t pwm_max_default = PWM_DEFAULT_MAX;
-	int32_t pwm_disarmed_default = 0;
-	int32_t pwm_rate_default = 50;
-
 	const char *prefix;
 
 	if (_class_instance == CLASS_DEVICE_PRIMARY) {
 		prefix = "PWM_MAIN";
 
-		param_get(param_find("PWM_MAIN_MIN"), &pwm_min_default);
-		param_get(param_find("PWM_MAIN_MAX"), &pwm_max_default);
-		param_get(param_find("PWM_MAIN_DISARM"), &pwm_disarmed_default);
-		param_get(param_find("PWM_MAIN_RATE"), &pwm_rate_default);
-
 	} else if (_class_instance == CLASS_DEVICE_SECONDARY) {
 		prefix = "PWM_AUX";
 
-		param_get(param_find("PWM_AUX_MIN"), &pwm_min_default);
-		param_get(param_find("PWM_AUX_MAX"), &pwm_max_default);
-		param_get(param_find("PWM_AUX_DISARM"), &pwm_disarmed_default);
-		param_get(param_find("PWM_AUX_RATE"), &pwm_rate_default);
-
 	} else if (_class_instance == CLASS_DEVICE_TERTIARY) {
 		prefix = "PWM_EXTRA";
 
-		param_get(param_find("PWM_EXTRA_MIN"), &pwm_min_default);
-		param_get(param_find("PWM_EXTRA_MAX"), &pwm_max_default);
-		param_get(param_find("PWM_EXTRA_DISARM"), &pwm_disarmed_default);
-		param_get(param_find("PWM_EXTRA_RATE"), &pwm_rate_default);
-
 	} else {
 		PX4_ERR("invalid class instance %d", _class_instance);
 		return;
@@ -705,19 +685,14 @@ void PWMOut::update_params()
 		// PWM_MAIN_MINx
 		{
 			sprintf(str, "%s_MIN%u", prefix, i + 1);
-			int32_t pwm_min = -1;
+			int32_t pwm_min = PWM_DEFAULT_MIN;
 
 			if (param_get(param_find(str), &pwm_min) == PX4_OK) {
-				if (pwm_min >= 0) {
-					_mixing_output.minValue(i) = math::constrain(pwm_min, (int32_t) PWM_LOWEST_MIN, (int32_t) PWM_HIGHEST_MIN);
+				_mixing_output.minValue(i) = math::constrain(pwm_min, PWM_LOWEST_MIN, PWM_HIGHEST_MIN);
 
-					if (pwm_min != _mixing_output.minValue(i)) {
-						int32_t pwm_min_new = _mixing_output.minValue(i);
-						param_set(param_find(str), &pwm_min_new);
-					}
-
-				} else {
-					_mixing_output.minValue(i) = pwm_min_default;
+				if (pwm_min != _mixing_output.minValue(i)) {
+					int32_t pwm_min_new = _mixing_output.minValue(i);
+					param_set(param_find(str), &pwm_min_new);
 				}
 			}
 		}
@@ -725,19 +700,14 @@ void PWMOut::update_params()
 		// PWM_MAIN_MAXx
 		{
 			sprintf(str, "%s_MAX%u", prefix, i + 1);
-			int32_t pwm_max = -1;
+			int32_t pwm_max = PWM_DEFAULT_MAX;
 
 			if (param_get(param_find(str), &pwm_max) == PX4_OK) {
-				if (pwm_max >= 0) {
-					_mixing_output.maxValue(i) = math::constrain(pwm_max, (int32_t) PWM_LOWEST_MAX, (int32_t) PWM_HIGHEST_MAX);
+				_mixing_output.maxValue(i) = math::constrain(pwm_max, PWM_LOWEST_MAX, PWM_HIGHEST_MAX);
 
-					if (pwm_max != _mixing_output.maxValue(i)) {
-						int32_t pwm_max_new = _mixing_output.maxValue(i);
-						param_set(param_find(str), &pwm_max_new);
-					}
-
-				} else {
-					_mixing_output.maxValue(i) = pwm_max_default;
+				if (pwm_max != _mixing_output.maxValue(i)) {
+					int32_t pwm_max_new = _mixing_output.maxValue(i);
+					param_set(param_find(str), &pwm_max_new);
 				}
 			}
 		}
@@ -745,16 +715,14 @@ void PWMOut::update_params()
 		// PWM_MAIN_FAILx
 		{
 			sprintf(str, "%s_FAIL%u", prefix, i + 1);
-			int32_t pwm_failsafe = -1;
+			int32_t pwm_failsafe = 0;
 
 			if (param_get(param_find(str), &pwm_failsafe) == PX4_OK) {
-				if (pwm_failsafe >= 0) {
-					_mixing_output.failsafeValue(i) = math::constrain(pwm_failsafe, (int32_t) 0, (int32_t) PWM_HIGHEST_MAX);
+				_mixing_output.failsafeValue(i) = math::constrain(pwm_failsafe, 0, PWM_HIGHEST_MAX);
 
-					if (pwm_failsafe != _mixing_output.failsafeValue(i)) {
-						int32_t pwm_fail_new = _mixing_output.failsafeValue(i);
-						param_set(param_find(str), &pwm_fail_new);
-					}
+				if (pwm_failsafe != _mixing_output.failsafeValue(i)) {
+					int32_t pwm_fail_new = _mixing_output.failsafeValue(i);
+					param_set(param_find(str), &pwm_fail_new);
 				}
 			}
 		}
@@ -762,19 +730,14 @@ void PWMOut::update_params()
 		// PWM_MAIN_DISx
 		{
 			sprintf(str, "%s_DIS%u", prefix, i + 1);
-			int32_t pwm_dis = -1;
+			int32_t pwm_dis = 0;
 
 			if (param_get(param_find(str), &pwm_dis) == PX4_OK) {
-				if (pwm_dis >= 0) {
-					_mixing_output.disarmedValue(i) = math::constrain(pwm_dis, (int32_t) 0, (int32_t) PWM_HIGHEST_MAX);
+				_mixing_output.disarmedValue(i) = math::constrain(pwm_dis, 0, PWM_HIGHEST_MAX);
 
-					if (pwm_dis != _mixing_output.disarmedValue(i)) {
-						int32_t pwm_dis_new = _mixing_output.disarmedValue(i);
-						param_set(param_find(str), &pwm_dis_new);
-					}
-
-				} else {
-					_mixing_output.disarmedValue(i) = pwm_disarmed_default;
+				if (pwm_dis != _mixing_output.disarmedValue(i)) {
+					int32_t pwm_dis_new = _mixing_output.disarmedValue(i);
+					param_set(param_find(str), &pwm_dis_new);
 				}
 			}
 
@@ -801,6 +764,24 @@ void PWMOut::update_params()
 		}
 	}
 
+
+	// PWM_MAIN_RATEx
+	{
+		//uint32_t rate_map = 0;
+
+		for (unsigned i = 0; i < _num_outputs; i++) {
+			sprintf(str, "%s_RATE%u", prefix, i + 1);
+			int32_t pwm_rate = 50;
+
+			if (param_get(param_find(str), &pwm_rate) == PX4_OK) {
+				//rate_map |=
+			}
+		}
+
+
+		// set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate)
+	}
+
 	if (_mixing_output.mixers()) {
 		int16_t values[FMU_MAX_ACTUATORS] {};
 
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 87f9fff4c3..d5b29e7852 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1205,21 +1205,10 @@ void PX4IO::update_params()
 		return;
 	}
 
-	int32_t pwm_min_default = PWM_DEFAULT_MIN;
-	int32_t pwm_max_default = PWM_DEFAULT_MAX;
-	int32_t pwm_disarmed_default = 0;
-	int32_t pwm_rate_default = 50;
-
 	const char *prefix = "PWM_MAIN";
 
-	param_get(param_find("PWM_MAIN_MIN"), &pwm_min_default);
-	param_get(param_find("PWM_MAIN_MAX"), &pwm_max_default);
-	param_get(param_find("PWM_MAIN_DISARM"), &pwm_disarmed_default);
-	param_get(param_find("PWM_MAIN_RATE"), &pwm_rate_default);
-
 	char str[17];
 
-
 	// PWM_MAIN_MINx
 	if (!_pwm_min_configured) {
 		pwm_output_values pwm{};
@@ -1227,19 +1216,14 @@ void PX4IO::update_params()
 
 		for (unsigned i = 0; i < _max_actuators; i++) {
 			sprintf(str, "%s_MIN%u", prefix, i + 1);
-			int32_t pwm_min = -1;
+			int32_t pwm_min = PWM_DEFAULT_MIN;
 
 			if (param_get(param_find(str), &pwm_min) == PX4_OK) {
-				if (pwm_min >= 0) {
-					pwm.values[i] = math::constrain(pwm_min, static_cast<int32_t>(PWM_LOWEST_MIN), static_cast<int32_t>(PWM_HIGHEST_MIN));
+				pwm.values[i] = math::constrain(pwm_min, PWM_LOWEST_MIN, PWM_HIGHEST_MIN);
 
-					if (pwm_min != pwm.values[i]) {
-						int32_t pwm_min_new = pwm.values[i];
-						param_set(param_find(str), &pwm_min_new);
-					}
-
-				} else {
-					pwm.values[i] = pwm_min_default;
+				if (pwm_min != pwm.values[i]) {
+					int32_t pwm_min_new = pwm.values[i];
+					param_set(param_find(str), &pwm_min_new);
 				}
 			}
 		}
@@ -1256,19 +1240,14 @@ void PX4IO::update_params()
 
 		for (unsigned i = 0; i < _max_actuators; i++) {
 			sprintf(str, "%s_MAX%u", prefix, i + 1);
-			int32_t pwm_max = -1;
+			int32_t pwm_max = PWM_DEFAULT_MAX;
 
 			if (param_get(param_find(str), &pwm_max) == PX4_OK) {
-				if (pwm_max >= 0) {
-					pwm.values[i] = math::constrain(pwm_max, static_cast<int32_t>(PWM_LOWEST_MAX), static_cast<int32_t>(PWM_HIGHEST_MAX));
+				pwm.values[i] = math::constrain(pwm_max, PWM_LOWEST_MAX, PWM_HIGHEST_MAX);
 
-					if (pwm_max != pwm.values[i]) {
-						int32_t pwm_max_new = pwm.values[i];
-						param_set(param_find(str), &pwm_max_new);
-					}
-
-				} else {
-					pwm.values[i] = pwm_max_default;
+				if (pwm_max != pwm.values[i]) {
+					int32_t pwm_max_new = pwm.values[i];
+					param_set(param_find(str), &pwm_max_new);
 				}
 			}
 		}
@@ -1285,16 +1264,14 @@ void PX4IO::update_params()
 
 		for (unsigned i = 0; i < _max_actuators; i++) {
 			sprintf(str, "%s_FAIL%u", prefix, i + 1);
-			int32_t pwm_fail = -1;
+			int32_t pwm_fail = 0;
 
 			if (param_get(param_find(str), &pwm_fail) == PX4_OK) {
-				if (pwm_fail >= 0) {
-					pwm.values[i] = math::constrain(pwm_fail, static_cast<int32_t>(0), static_cast<int32_t>(PWM_HIGHEST_MAX));
+				pwm.values[i] = math::constrain(pwm_fail, 0, PWM_HIGHEST_MAX);
 
-					if (pwm_fail != pwm.values[i]) {
-						int32_t pwm_fail_new = pwm.values[i];
-						param_set(param_find(str), &pwm_fail_new);
-					}
+				if (pwm_fail != pwm.values[i]) {
+					int32_t pwm_fail_new = pwm.values[i];
+					param_set(param_find(str), &pwm_fail_new);
 				}
 			}
 		}
@@ -1311,19 +1288,14 @@ void PX4IO::update_params()
 
 		for (unsigned i = 0; i < _max_actuators; i++) {
 			sprintf(str, "%s_DIS%u", prefix, i + 1);
-			int32_t pwm_dis = -1;
+			int32_t pwm_dis = 0;
 
 			if (param_get(param_find(str), &pwm_dis) == PX4_OK) {
-				if (pwm_dis >= 0) {
-					pwm.values[i] = math::constrain(pwm_dis, static_cast<int32_t>(0), static_cast<int32_t>(PWM_HIGHEST_MAX));
+				pwm.values[i] = math::constrain(pwm_dis, 0, PWM_HIGHEST_MAX);
 
-					if (pwm_dis != pwm.values[i]) {
-						int32_t pwm_dis_new = pwm.values[i];
-						param_set(param_find(str), &pwm_dis_new);
-					}
-
-				} else {
-					pwm.values[i] = pwm_disarmed_default;
+				if (pwm_dis != pwm.values[i]) {
+					int32_t pwm_dis_new = pwm.values[i];
+					param_set(param_find(str), &pwm_dis_new);
 				}
 			}
 		}
diff --git a/src/lib/parameters/param_translation.cpp b/src/lib/parameters/param_translation.cpp
index 96ebbd0a80..6041cd21bc 100644
--- a/src/lib/parameters/param_translation.cpp
+++ b/src/lib/parameters/param_translation.cpp
@@ -142,29 +142,6 @@ bool param_modify_on_import(bson_node_t node)
 		}
 	}
 
-	// 2021-01-31 (v1.12 alpha): translate PWM_MIN/PWM_MAX/PWM_DISARMED to PWM_MAIN
-	{
-		if (strcmp("PWM_MIN", node->name) == 0) {
-			strcpy(node->name, "PWM_MAIN_MIN");
-			PX4_INFO("copying %s -> %s", "PWM_MIN", "PWM_MAIN_MIN");
-		}
-
-		if (strcmp("PWM_MAX", node->name) == 0) {
-			strcpy(node->name, "PWM_MAIN_MAX");
-			PX4_INFO("copying %s -> %s", "PWM_MAX", "PWM_MAIN_MAX");
-		}
-
-		if (strcmp("PWM_RATE", node->name) == 0) {
-			strcpy(node->name, "PWM_MAIN_RATE");
-			PX4_INFO("copying %s -> %s", "PWM_RATE", "PWM_MAIN_RATE");
-		}
-
-		if (strcmp("PWM_DISARMED", node->name) == 0) {
-			strcpy(node->name, "PWM_MAIN_DISARM");
-			PX4_INFO("copying %s -> %s", "PWM_DISARMED", "PWM_MAIN_DISARM");
-		}
-	}
-
 	// 2021-04-30: translate ASPD_STALL to FW_AIRSPD_STALL
 	{
 		if (strcmp("ASPD_STALL", node->name) == 0) {
diff --git a/src/lib/pwm/pwm_aux_params.yaml b/src/lib/pwm/pwm_aux_params.yaml
index 002a9d125e..3c209d04df 100644
--- a/src/lib/pwm/pwm_aux_params.yaml
+++ b/src/lib/pwm/pwm_aux_params.yaml
@@ -6,108 +6,57 @@ parameters:
     - group: PWM Outputs
       definitions:
 
-        PWM_AUX_RATE:
-            description:
-                short: PWM aux output frequency
-                long: |
-                    Set to 400 for industry default or 1000 for high frequency ESCs.
-                    Set to 0 for Oneshot125.
-            type: int32
-            unit: Hz
-            min: -1
-            max: 2000
-            default: 50
-
-        PWM_AUX_MIN:
-            description:
-                short: PWM aux minimum value
-                long: |
-                    Set to 1000 for industry default or 900 to increase servo travel.
-            type: int32
-            unit: us
-            min: 800
-            max: 1400
-            default: 1000
-
-        PWM_AUX_MAX:
-            description:
-                short: PWM aux maximum value
-                long: |
-                    Set to 2000 for industry default or 2100 to increase servo travel.
-            type: int32
-            unit: us
-            min: 1600
-            max: 2200
-            default: 2000
-
-        PWM_AUX_DISARM:
-            description:
-                short: PWM aux disarmed value
-                long: |
-                    This is the PWM pulse the autopilot is outputting if not armed.
-                    The main use of this parameter is to silence ESCs when they are disarmed.
-            type: int32
-            unit: us
-            min: 0
-            max: 2200
-            default: 1500
-
         PWM_AUX_MIN${i}:
             description:
                 short: PWM aux ${i} minimum value
                 long: |
                     This is the minimum PWM pulse the autopilot is allowed to output.
-                    When set to -1 the value for PWM_AUX_MIN will be used
             type: int32
             unit: us
-            min: -1
+            min: 800
             max: 1600
             num_instances: *max_num_config_instances
             instance_start: 1
-            default: -1
+            default: 1000
 
         PWM_AUX_MAX${i}:
             description:
                 short: PWM aux ${i} maximum value
                 long: |
                     This is the maximum PWM pulse the autopilot is allowed to output.
-                    When set to -1 the value for PWM_AUX_MAX will be used
             type: int32
             unit: us
-            min: -1
+            min: 1400
             max: 2150
             num_instances: *max_num_config_instances
             instance_start: 1
-            default: -1
+            default: 2000
 
         PWM_AUX_FAIL${i}:
             description:
                 short: PWM aux ${i} failsafe value
                 long: |
                     This is the PWM pulse the autopilot is outputting if in failsafe mode.
-                    When set to -1 the value is set automatically depending if the actuator
-                    is a motor (900us) or a servo (1500us)
             type: int32
             unit: us
-            min: -1
+            min: 0
             max: 2150
             num_instances: *max_num_config_instances
             instance_start: 1
-            default: -1
+            default: 0
 
         PWM_AUX_DIS${i}:
             description:
                 short: PWM aux ${i} disarmed value
                 long: |
                     This is the PWM pulse the autopilot is outputting if not armed.
-                    When set to -1 the value for PWM_AUX_DISARM will be used
             type: int32
             unit: us
-            min: -1
+            min: 0
             max: 2150
             num_instances: *max_num_config_instances
             instance_start: 1
-            default: -1
+            default: 0
 
         PWM_AUX_TRIM${i}:
             description:
@@ -128,7 +77,6 @@ parameters:
                 long: |
                     Enable to invert the channel.
                     Warning: Use this parameter when connected to a servo only.
-                    For a brushless motor, invert manually two phases to reverse the direction.
             type: boolean
             num_instances: *max_num_config_instances
             instance_start: 1
diff --git a/src/lib/pwm/pwm_extra_params.yaml b/src/lib/pwm/pwm_extra_params.yaml
index fcacc754ce..0ddc53dde9 100644
--- a/src/lib/pwm/pwm_extra_params.yaml
+++ b/src/lib/pwm/pwm_extra_params.yaml
@@ -6,87 +6,37 @@ parameters:
     - group: PWM Outputs
       definitions:
 
-        PWM_EXTRA_RATE:
-            description:
-                short: PWM extra output frequency
-                long: |
-                    Set to 400 for industry default or 1000 for high frequency ESCs.
-                    Set to 0 for Oneshot125.
-            type: int32
-            unit: Hz
-            min: -1
-            max: 2000
-            default: 50
-
-        PWM_EXTRA_MIN:
-            description:
-                short: PWM extra minimum value
-                long: |
-                    Set to 1000 for industry default or 900 to increase servo travel.
-            type: int32
-            unit: us
-            min: 800
-            max: 1400
-            default: 1000
-
-        PWM_EXTRA_MAX:
-            description:
-                short: PWM extra maximum value
-                long: |
-                    Set to 2000 for industry default or 2100 to increase servo travel.
-            type: int32
-            unit: us
-            min: 1600
-            max: 2200
-            default: 2000
-
-        PWM_EXTRA_DISARM:
-            description:
-                short: PWM extra disarmed value
-                long: |
-                    This is the PWM pulse the autopilot is outputting if not armed.
-                    The main use of this parameter is to silence ESCs when they are disarmed.
-            type: int32
-            unit: us
-            min: 0
-            max: 2200
-            default: 1500
-
         PWM_EXTRA_MIN${i}:
             description:
                 short: PWM extra ${i} minimum value
                 long: |
                     This is the minimum PWM pulse the autopilot is allowed to output.
-                    When set to -1 the value for PWM_EXTRA_MIN will be used
             type: int32
             unit: us
-            min: -1
+            min: 800
             max: 1600
             num_instances: *max_num_config_instances
             instance_start: 1
-            default: -1
+            default: 1000
 
         PWM_EXTRA_MAX${i}:
             description:
                 short: PWM extra ${i} maximum value
                 long: |
                     This is the maximum PWM pulse the autopilot is allowed to output.
-                    When set to -1 the value for PWM_EXTRA_MAX will be used
             type: int32
             unit: us
-            min: -1
+            min: 1400
             max: 2150
             num_instances: *max_num_config_instances
             instance_start: 1
-            default: -1
+            default: 2000
 
         PWM_EXTRA_FAIL${i}:
             description:
                 short: PWM extra ${i} failsafe value
                 long: |
                     This is the PWM pulse the autopilot is outputting if in failsafe mode.
-                    When set to -1 the value is set automatically depending if the actuator
-                    is a motor (900us) or a servo (1500us)
             type: int32
             unit: us
             min: 0
@@ -100,14 +50,13 @@ parameters:
                 short: PWM extra ${i} disarmed value
                 long: |
                     This is the PWM pulse the autopilot is outputting if not armed.
-                    When set to -1 the value for PWM_EXTRA_DISARM will be used
             type: int32
             unit: us
-            min: -1
+            min: 0
             max: 2150
             num_instances: *max_num_config_instances
             instance_start: 1
-            default: -1
+            default: 0
 
         PWM_EXTRA_TRIM${i}:
             description:
@@ -128,7 +77,6 @@ parameters:
                 long: |
                     Enable to invert the channel.
                     Warning: Use this parameter when connected to a servo only.
-                    For a brushless motor, invert manually two phases to reverse the direction.
             type: boolean
             num_instances: *max_num_config_instances
             instance_start: 1
@@ -138,7 +86,7 @@ parameters:
             description:
                 short: PWM extra ${i} rate
                 long: |
-                    Set the default PWM output frequency for the main outputs
+                    Set the default PWM output frequency for the extra outputs
             type: int32
             unit: Hz
             min: 0
diff --git a/src/lib/pwm/pwm_main_params.yaml b/src/lib/pwm/pwm_main_params.yaml
index 8808215a55..7a22de04ff 100644
--- a/src/lib/pwm/pwm_main_params.yaml
+++ b/src/lib/pwm/pwm_main_params.yaml
@@ -6,108 +6,57 @@ parameters:
     - group: PWM Outputs
       definitions:
 
-        PWM_MAIN_RATE:
-            description:
-                short: PWM main output frequency
-                long: |
-                    Set to 400 for industry default or 1000 for high frequency ESCs.
-                    Set to 0 for Oneshot125.
-            type: int32
-            unit: Hz
-            min: -1
-            max: 2000
-            default: 400
-
-        PWM_MAIN_MIN:
-            description:
-                short: PWM main minimum value
-                long: |
-                    Set to 1000 for industry default or 900 to increase servo travel.
-            type: int32
-            unit: us
-            min: 800
-            max: 1400
-            default: 1000
-
-        PWM_MAIN_MAX:
-            description:
-                short: PWM main maximum value
-                long: |
-                    Set to 2000 for industry default or 2100 to increase servo travel.
-            type: int32
-            unit: us
-            min: 1600
-            max: 2200
-            default: 2000
-
-        PWM_MAIN_DISARM:
-            description:
-                short: PWM main disarmed value
-                long: |
-                    This is the PWM pulse the autopilot is outputting if not armed.
-                    The main use of this parameter is to silence ESCs when they are disarmed.
-            type: int32
-            unit: us
-            min: 0
-            max: 2200
-            default: 900
-
         PWM_MAIN_MIN${i}:
             description:
                 short: PWM main ${i} minimum value
                 long: |
                     This is the minimum PWM pulse the autopilot is allowed to output.
-                    When set to -1 the value for PWM_MAIN_MIN will be used
             type: int32
             unit: us
-            min: -1
+            min: 800
             max: 1600
             num_instances: *max_num_config_instances
             instance_start: 1
-            default: -1
+            default: 1000
 
         PWM_MAIN_MAX${i}:
             description:
                 short: PWM main ${i} maximum value
                 long: |
                     This is the maximum PWM pulse the autopilot is allowed to output.
-                    When set to -1 the value for PWM_MAIN_MAX will be used
             type: int32
             unit: us
-            min: -1
-            max: 2150
+            min: 1400
+            max: 2500
             num_instances: *max_num_config_instances
             instance_start: 1
-            default: -1
+            default: 2000
 
         PWM_MAIN_FAIL${i}:
             description:
                 short: PWM main ${i} failsafe value
                 long: |
                     This is the PWM pulse the autopilot is outputting if in failsafe mode.
-                    When set to -1 the value is set automatically depending if the actuator
-                    is a motor (900us) or a servo (1500us)
             type: int32
             unit: us
-            min: -1
+            min: 0
             max: 2150
             num_instances: *max_num_config_instances
             instance_start: 1
-            default: -1
+            default: 0
 
         PWM_MAIN_DIS${i}:
             description:
                 short: PWM main ${i} disarmed value
                 long: |
                     This is the PWM pulse the autopilot is outputting if not armed.
-                    When set to -1 the value for PWM_MAIN_DISARM will be used
             type: int32
             unit: us
-            min: -1
-            max: 2150
+            min: 0
+            max: 2500
             num_instances: *max_num_config_instances
             instance_start: 1
-            default: -1
+            default: 0
 
         PWM_MAIN_TRIM${i}:
             description:
@@ -128,7 +77,6 @@ parameters:
                 long: |
                     Enable to invert the channel.
                     Warning: Use this parameter when connected to a servo only.
-                    For a brushless motor, invert manually two phases to reverse the direction.
             type: boolean
             num_instances: *max_num_config_instances
             instance_start: 1