diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index 2a4764ecb6..e0ee2dffd4 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -109,7 +109,7 @@ then
 		fi
 	fi
 
-	if [ $OUTPUT_MODE = io -o $OUTPUT_MODE = uavcan_esc ]
+	if [ $OUTPUT_MODE = io ]
 	then
 		sh /etc/init.d/rc.io
 	fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.io b/ROMFS/px4fmu_common/init.d/rc.io
index 2f0aadb96f..7633884ea1 100644
--- a/ROMFS/px4fmu_common/init.d/rc.io
+++ b/ROMFS/px4fmu_common/init.d/rc.io
@@ -10,7 +10,7 @@ then
     set HIL_ARG $OUTPUT_MODE
 fi
 
-if [ $USE_IO = yes -a $IO_PRESENT = yes ]
+if [ $IO_PRESENT = yes ]
 then
 	if px4io start $HIL_ARG
 	then
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index e48308f162..f44927b0f8 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -427,7 +427,7 @@ else
 	#
 	sh /etc/init.d/rc.serial
 
-	if [ $IO_PRESENT = no -o $USE_IO = no ]
+	if [ $IO_PRESENT = no ]
 	then
 		# Must be started after the serial config is read
 		rc_input start $RC_INPUT_ARGS