diff --git a/ROMFS/px4fmu_common/init.d/4900_crazyflie b/ROMFS/px4fmu_common/init.d/4900_crazyflie
index c10a473cf6..d8486d3a2f 100644
--- a/ROMFS/px4fmu_common/init.d/4900_crazyflie
+++ b/ROMFS/px4fmu_common/init.d/4900_crazyflie
@@ -18,6 +18,18 @@ then
 	param set PWM_DISARMED 0
 	param set PWM_MIN 0
 	param set PWM_MAX 255
+
+	param set SYS_COMPANION 20
+
+	param set MC_PITCHRATE_D 0.0028
+	param set MC_PITCHRATE_P 0.075
+	param set MC_PITCH_P 4.0
+	param set MC_ROLLRATE_D 0.0028
+	param set MC_ROLLRATE_P 0.075
+	param set MC_ROLL_P 4.0
+
+	param set CBRK_SUPPLY_CHK 894281
+	param set CBRK_USB_CHK 197848
 fi
 
 set PWM_MIN none
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 7d6c48560f..5e16675adf 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -168,6 +168,12 @@ then
 		if ver hwcmp CRAZYFLIE
 		then
 			set USE_IO no
+
+			if param compare SYS_AUTOSTART 0
+			then
+				param set SYS_AUTOSTART 4900
+				set AUTOCNF yes
+			fi
 		fi
 	else
 		set USE_IO no
diff --git a/src/modules/syslink/syslink_main.cpp b/src/modules/syslink/syslink_main.cpp
index eeb49293c3..91d7aec861 100644
--- a/src/modules/syslink/syslink_main.cpp
+++ b/src/modules/syslink/syslink_main.cpp
@@ -131,6 +131,10 @@ Syslink::set_address(uint64_t addr)
 int
 Syslink::open_serial(const char *dev)
 {
+#ifndef B1000000
+#define B1000000 1000000
+#endif
+
 	int rate = B1000000;
 
 	// open uart