diff --git a/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt b/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt
new file mode 100644
index 00000000000..324b3b4d2e3
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt
@@ -0,0 +1,33 @@
+#!/bin/sh
+#
+# @name Hexarotor x with tilted arms
+#
+# @url http://theairlab.org/
+#
+# @type Tilt-Hexarotor
+# @class Copter
+#
+# @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 Azarakhsh Keipour <keipour@cmu.edu>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set MC_PITCHRATE_P 0.2
+	param set MC_ROLLRATE_P 0.2
+	param set MPC_Z_VEL_I 0.15
+	param set MPC_Z_VEL_P 0.6
+
+	param set RTL_DESCEND_ALT 5.0
+	param set RTL_LAND_DELAY 5
+fi
+
+set MAV_TYPE 13
+
+# Set mixer
+set MIXER hexa_tilt_x
diff --git a/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt.post b/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt.post
new file mode 100644
index 00000000000..1d96d61fe96
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt.post
@@ -0,0 +1 @@
+mavlink stream -r 250 -s HIGHRES_IMU -u 14556
diff --git a/ROMFS/px4fmu_common/init.d/airframes/6100_hexa_tilt_x b/ROMFS/px4fmu_common/init.d/airframes/6100_hexa_tilt_x
index 679f6bc5e0d..2157fc5a8bd 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/6100_hexa_tilt_x
+++ b/ROMFS/px4fmu_common/init.d/airframes/6100_hexa_tilt_x
@@ -13,16 +13,40 @@
 # @output MAIN4 motor 4
 # @output MAIN5 motor 5
 # @output MAIN6 motor 6
-#
-# @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 Azarakhsh Keipour <keipour@cmu.edu>
 #
 
 sh /etc/init.d/rc.mc_defaults
 
+if [ $AUTOCNF == yes ]
+then
+	param set MC_PITCH_P 4.0
+	param set MC_PITCHRATE_P 0.24
+	param set MC_PITCHRATE_I 0.09
+	param set MC_PITCHRATE_D 0.013
+	param set MC_PITCHRATE_MAX 180.0
+
+	param set MC_ROLL_P 4.0
+	param set MC_ROLLRATE_P 0.16
+	param set MC_ROLLRATE_I 0.07
+	param set MC_ROLLRATE_D 0.009
+	param set MC_ROLLRATE_MAX 180.0
+
+	param set MC_YAW_P 3.0
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
+
+	param set MPC_HOLD_MAX_XY 0.25
+	param set MPC_THR_MIN 0.15
+	param set MPC_Z_VEL_MAX_DN 2.0
+
+	param set BAT_N_CELLS 4
+fi
+
 # Set mixer
 set MIXER hexa_tilt_x
 
diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake
index dbfda497253..54f1fcc680a 100644
--- a/platforms/posix/cmake/sitl_target.cmake
+++ b/platforms/posix/cmake/sitl_target.cmake
@@ -63,7 +63,7 @@ set(debuggers none ide gdb lldb ddd valgrind callgrind)
 set(models none shell
 	if750a iris iris_opt_flow iris_vision iris_rplidar iris_irlock iris_obs_avoid iris_rtps solo typhoon_h480
 	plane
-	standard_vtol tailsitter tiltrotor
+	standard_vtol tailsitter tiltrotor hexa_x_tilt
 	hippocampus rover)
 set(all_posix_vmd_make_targets)
 foreach(viewer ${viewers})
diff --git a/src/lib/mixer/MultirotorMixer/geometries/hex_tilt_x.toml b/src/lib/mixer/MultirotorMixer/geometries/hex_tilt_x.toml
index c4041926867..b4c593712b6 100644
--- a/src/lib/mixer/MultirotorMixer/geometries/hex_tilt_x.toml
+++ b/src/lib/mixer/MultirotorMixer/geometries/hex_tilt_x.toml
@@ -1,57 +1,46 @@
 # Hexacopter in with tilted arms
 
 [info]
-key = "6tx"
+key = "6xt"
 description = "Hexacopter with tilted arms"
 
 [rotor_default]
+# No default axis, each rotor has different axis
 Ct        = 1.0
 Cm        = 0.05
 
 [[rotors]]
-name      = "front_right_top"
-position  = [0.707107, 0.707107, -0.1]
-axis      = [-0.35355, 0.35355, -0.866025]
-direction = "CCW"
-
-[[rotors]]
-name     = "front_left_top"
-position = [0.707107, -0.707107, -0.1]
-axis      = [-0.35355, -0.35355, -0.866025]
+name      = "mid_right"
+axis      = [0.5, 0.0, -0.866025]
+position  = [0.0, 1.0, 0.0]
 direction = "CW"
 
 [[rotors]]
-name      = "rear_left_top"
-position  = [-0.707107, -0.707107, -0.1]
-axis      = [0.35355, -0.35355, -0.866025]
+name      = "mid_left"
+axis      = [0.5, 0.0, -0.866025]
+position  = [0.0, -1.0, 0.0]
 direction = "CCW"
 
 [[rotors]]
-name     = "rear_right_top"
-position = [-0.707107, 0.707107, -0.1]
-axis      = [0.35355, 0.35355, -0.866025]
+name      = "front_left"
+axis      = [-0.25, -0.4330125, -0.866025]
+position  = [0.866025, -0.5, 0.0]
 direction = "CW"
 
 [[rotors]]
-name     = "front_left_bottom"
-position = [0.707107, -0.707107, 0.1]
-axis      = [0.35355, 0.35355, -0.866025]
+name      = "rear_right"
+axis      = [-0.25, -0.4330125, -0.866025]
+position  = [-0.866025, 0.5, 0.0]
 direction = "CCW"
 
 [[rotors]]
-name      = "front_right_bottom"
-position  = [0.707107, 0.707107, 0.1]
-axis      = [0.35355, -0.35355, -0.866025]
-direction = "CW"
-
-[[rotors]]
-name     = "rear_right_bottom"
-position = [-0.707107, 0.707107, 0.1]
-axis      = [-0.35355, -0.35355, -0.866025]
+name      = "front_right"
+axis      = [-0.25, 0.4330125, -0.866025]
+position  = [0.866025, 0.5, 0.0]
 direction = "CCW"
 
 [[rotors]]
-name      = "rear_left_bottom"
-position  = [-0.707107, -0.707107, 0.1]
-axis      = [-0.35355, 0.35355, -0.866025]
+name      = "rear_left"
+axis      = [-0.25, 0.4330125, -0.866025]
+position  = [-0.866025, -0.5, 0.0]
 direction = "CW"