diff --git a/ROMFS/tap_common/init.d/4001_quad_x b/ROMFS/tap_common/init.d/4001_quad_x
index 8f7c8da356..f4fad8ad28 100644
--- a/ROMFS/tap_common/init.d/4001_quad_x
+++ b/ROMFS/tap_common/init.d/4001_quad_x
@@ -12,7 +12,7 @@
 #
 
 sh /etc/init.d/rc.mc_defaults
+tap_esc start -d /dev/ttyS4 -n 4
+set OUTPUT_MODE tap_esc
 
 set MIXER quad_x
-
-set PWM_OUT 1234
diff --git a/ROMFS/tap_common/init.d/6001_hexa_x b/ROMFS/tap_common/init.d/6001_hexa_x
index 584c4a381c..9bb6257e76 100644
--- a/ROMFS/tap_common/init.d/6001_hexa_x
+++ b/ROMFS/tap_common/init.d/6001_hexa_x
@@ -13,7 +13,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER hexa_x
+tap_esc start -d /dev/ttyS4 -n 6
+set OUTPUT_MODE tap_esc
 
-# Need to set all 8 channels
-set PWM_OUT 12345678
+set MIXER hexa_x
diff --git a/ROMFS/tap_common/init.d/rc.interface b/ROMFS/tap_common/init.d/rc.interface
index bfa105b537..df8c8f5112 100644
--- a/ROMFS/tap_common/init.d/rc.interface
+++ b/ROMFS/tap_common/init.d/rc.interface
@@ -16,9 +16,9 @@ then
 
 	set OUTPUT_DEV /dev/pwm_output0
 
-	if [ $OUTPUT_MODE == uavcan_esc ]
+	if [ $OUTPUT_MODE == tap_esc ]
 	then
-		set OUTPUT_DEV /dev/uavcan/esc
+		set OUTPUT_DEV /dev/tap_esc
 	fi
 
 	if mixer load $OUTPUT_DEV $MIXER_FILE
diff --git a/ROMFS/tap_common/init.d/rcS b/ROMFS/tap_common/init.d/rcS
index d5795c1d83..8b8c559c8a 100644
--- a/ROMFS/tap_common/init.d/rcS
+++ b/ROMFS/tap_common/init.d/rcS
@@ -5,6 +5,14 @@
 #  NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
 #
 
+# Serial map:
+# /dev/ttyS0: payload bay, e.g. gimbal
+# /dev/ttyS1: ?
+# /dev/ttyS2: nsh shell
+# /dev/ttyS3: ?
+# /dev/ttyS4: esc bus
+# /dev/ttyS5: ?
+
 #
 # Start CDC/ACM serial driver
 #