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 34acfaad46..d6248a0d53 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
@@ -15,6 +15,5 @@ then
 
 fi
 
-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 edf49e203a..53b1ada1d3 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -28,7 +28,6 @@ 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 73ba807362..d84699c297 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
@@ -24,8 +24,9 @@
 # @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
@@ -39,6 +40,3 @@ 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 3ea6fa74d9..374abc06c2 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
@@ -22,8 +22,9 @@
 # @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
@@ -41,6 +42,3 @@ 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 26378a7321..69b25fb57e 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
+++ b/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
@@ -24,8 +24,9 @@
 # @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
 
@@ -41,6 +42,3 @@ 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 f586eb8600..e67f8765cd 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
+++ b/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
@@ -24,8 +24,9 @@
 # @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
@@ -44,8 +45,3 @@ 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 49802c243b..f5af37a656 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
@@ -11,6 +11,5 @@
 . ${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 3eef8aa909..8ceada4731 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
@@ -14,7 +14,6 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default BAT_N_CELLS 3
 
 param set-default COM_RC_IN_MODE 1
@@ -70,5 +69,3 @@ param set SYS_HITL 1
 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 438c384be5..d285d04956 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox
+++ b/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox
@@ -22,9 +22,6 @@
 # @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 4ea669c6ec..c913a0b62e 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 8992cc4d58..1aca9453a4 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox
+++ b/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox
@@ -20,8 +20,7 @@
 # @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 1fc7adc9bd..30b85fe176 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
+++ b/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
@@ -21,8 +21,9 @@
 # @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
@@ -46,6 +47,3 @@ 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 f86e82d6d5..f9f09face4 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
+++ b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
@@ -22,18 +22,21 @@
 # @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 14c5371ec9..106ea460eb 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
+++ b/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
@@ -19,8 +19,7 @@
 
 . ${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
@@ -44,8 +43,20 @@ 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 d382ee5f03..e222cb0849 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
+++ b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
@@ -24,6 +24,7 @@
 
 . ${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
@@ -41,8 +42,6 @@ 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
@@ -52,9 +51,40 @@ 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 0b8630b70e..23d7674227 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
@@ -12,18 +12,18 @@
 # @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 7b2adfc439..687d5c0c31 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
@@ -21,17 +21,19 @@
 # @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 99c3cfcf09..6d383d0ca3 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
@@ -22,12 +22,10 @@
 # @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
@@ -65,9 +63,14 @@ 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 26989b44db..18ac5359a5 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
+++ b/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
@@ -20,8 +20,10 @@
 # @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
@@ -45,17 +47,17 @@ 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 98e0f6e7a9..c72e686497 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
@@ -12,8 +12,10 @@
 # @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
@@ -31,20 +33,20 @@ 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 560fca0126..e1cf7bf44a 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
+++ b/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
@@ -12,8 +12,10 @@
 # @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
@@ -46,11 +48,6 @@ 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
@@ -59,9 +56,13 @@ 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 e90c3d5af0..086a82f877 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
+++ b/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
@@ -12,8 +12,10 @@
 # @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
@@ -62,15 +64,6 @@ 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
@@ -81,9 +74,17 @@ 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 0af795d0a1..278650b3af 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13010_claire
+++ b/ROMFS/px4fmu_common/init.d/airframes/13010_claire
@@ -14,14 +14,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
-param set-default PWM_AUX_DISARMED 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
@@ -31,9 +24,32 @@ 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 f05c37c9ac..e60893f725 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
+++ b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
@@ -23,6 +23,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+set MAV_TYPE 21
 
 param set-default CBRK_AIRSPD_CHK 162128
 
@@ -60,8 +61,6 @@ 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
@@ -80,8 +79,26 @@ 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 6128f71c38..372dae5437 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
@@ -23,6 +23,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+set MAV_TYPE 22
 
 param set-default BAT_CAPACITY 23000
 param set-default BAT_N_CELLS 4
@@ -113,15 +114,6 @@ 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_DISARMED 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
@@ -151,10 +143,33 @@ 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
-set MIXER_AUX pass
+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
 
-set PWM_OUT 1234
-set PWM_AUX_OUT 12345
+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
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
index 0ce948f52d..e75e316907 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
+++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
@@ -23,7 +23,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
+set MAV_TYPE 22
 
 param set-default BAT_N_CELLS 6
 
@@ -87,10 +87,6 @@ param set-default MPC_Z_VEL_MAX_UP 2
 
 param set-default NAV_ACC_RAD	3
 
-param set-default PWM_MAIN_DIS3 1000
-param set-default PWM_MAIN_MIN3 1120
-param set-default PWM_MAIN_MIN 950
-
 param set-default SENS_BOARD_ROT 4
 
 param set-default VT_ARSP_BLEND 10
@@ -107,9 +103,28 @@ 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
 
-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
index 63fe83aee6..6c48a1ddd6 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard
+++ b/ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard
@@ -24,9 +24,14 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+set MAV_TYPE 22
 
-param set-default PWM_MAIN_RATE 400
+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
@@ -46,13 +51,3 @@ 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
-
-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_vtol_AAERT
-set MIXER_AUX none
-
-set PWM_OUT 1234
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 ab2308d820..b319418df8 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
+++ b/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
@@ -24,18 +24,21 @@
 # @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 aa9c0fec6b..a2415c85bf 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
@@ -19,13 +19,26 @@
 
 . ${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 6a772e4a06..e7614dc5f2 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+
+++ b/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+
@@ -20,4 +20,22 @@
 
 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 262aea2ab9..3b46b249dd 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-
+++ b/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-
@@ -20,4 +20,22 @@
 
 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 a4e556c142..efcbfc30c8 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
+++ b/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
@@ -18,8 +18,8 @@
 #
 
 . ${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
@@ -39,17 +39,5 @@ 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 c1207b2435..b2f01cade9 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
+++ b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
@@ -25,11 +25,6 @@ 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
@@ -54,5 +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/17002_TF-AutoG2 b/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
index d9549b664e..4c772a6a8a 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
+++ b/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
@@ -26,13 +26,9 @@
 
 . ${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
@@ -47,5 +43,6 @@ 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 2056f7b74a..6262c38da1 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
+++ b/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
@@ -21,13 +21,9 @@
 
 . ${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
@@ -42,5 +38,6 @@ 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 de417958c7..4bb0d6dcf5 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
+++ b/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
@@ -16,7 +16,6 @@
 
 . ${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
@@ -27,8 +26,8 @@ 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 1a2ad26d52..9af31c2c70 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
+++ b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
@@ -24,10 +24,6 @@
 
 . ${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 43a666c5ff..1315dc6cb3 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2105_maja
+++ b/ROMFS/px4fmu_common/init.d/airframes/2105_maja
@@ -40,11 +40,7 @@ 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 cf25f2fe5d..2b639f96c5 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
+++ b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
@@ -40,11 +40,7 @@ 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 6bdf132ccb..41d7a2b15f 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
+++ b/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
@@ -41,13 +41,10 @@ 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 f4a5b53d36..a2d64b2700 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
+++ b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
@@ -28,23 +28,68 @@
 
 set VEHICLE_TYPE mc
 
-
 param set-default NAV_ACC_RAD 2
 
-param set-default PWM_AUX_RATE 400
-param set-default PWM_AUX_DISARMED 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 9326c9c0db..14018270e5 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship
+++ b/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship
@@ -19,6 +19,4 @@
 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 00c75fef9a..8c831480a4 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing
+++ b/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing
@@ -22,3 +22,5 @@
 . ${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 571783c9b6..f67ddc3865 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
@@ -42,10 +38,8 @@ 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 87b4504d99..a77c16b086 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
@@ -43,8 +39,6 @@ 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
@@ -52,5 +46,5 @@ 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 2e4a7f58ef..9c8f5ab960 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
+++ b/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
@@ -42,8 +42,6 @@ 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
@@ -51,5 +49,5 @@ 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 ab9a1caa88..85f853a50c 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
+++ b/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
@@ -16,15 +16,8 @@
 # @maintainer Iain Galloway <iain.galloway@nxp.com>
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
-
-
-param set-default IMU_GYRO_CUTOFF 40
-param set-default IMU_DGYRO_CUTOFF 20
 param set-default IMU_GYRO_RATEMAX 400
 
 param set-default MC_ROLLRATE_P 0.18
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 69f834c6a6..d74db106e9 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb
+++ b/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb
@@ -17,11 +17,7 @@
 # @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
@@ -35,5 +31,3 @@ 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 55af8d5485..db787d6aca 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
+++ b/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
@@ -17,15 +17,14 @@
 # @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
@@ -85,7 +84,3 @@ 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 e7e76f024d..b433e73541 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
@@ -12,11 +12,7 @@
 # @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 058c338a55..f04e4c2960 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
+++ b/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
@@ -19,8 +19,9 @@
 # @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
@@ -34,19 +35,5 @@ param set-default MC_YAW_P 4
 
 param set-default NAV_ACC_RAD 2
 
-param set-default PWM_AUX_DISARMED 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 a971b9f468..ae9ef31561 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
+++ b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
@@ -24,6 +24,8 @@
 
 . ${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
@@ -56,7 +58,3 @@ 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 05a729616e..b3f6bb81a4 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
@@ -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
@@ -40,10 +36,6 @@ 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 5361c80358..a27b2d7f81 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
+++ b/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
@@ -21,14 +21,11 @@
 # @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
@@ -53,5 +50,3 @@ 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 92cecf6e35..024af3ba5a 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
@@ -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
 
 # The set does not include a battery, but most people will probably use 4S
 param set-default BAT_N_CELLS 4
@@ -49,8 +45,4 @@ 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 5ab7497021..1e1fbadce7 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
+++ b/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
@@ -12,14 +12,10 @@
 # @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
 
 set PARAM_DEFAULTS_VER 2
 
-
 param set-default BAT_N_CELLS 4
 
 param set-default GPS_1_CONFIG 0
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 9e426e3010..733a6905d2 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
+++ b/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
@@ -12,11 +12,7 @@
 # @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
 
@@ -31,5 +27,3 @@ 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/4070_aerofc b/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc
index ca2ec641c1..0992134a18 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc
+++ b/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc
@@ -78,4 +78,3 @@ fi
 
 set MIXER quad_x
 set USE_IO no
-
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
index ae7c1ea5ca..a56e3bbc4b 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
+++ b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
@@ -21,10 +21,7 @@
 # @board bitcraze_crazyflie 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 975d0c545c..3a25256e6b 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4072_draco
+++ b/ROMFS/px4fmu_common/init.d/airframes/4072_draco
@@ -21,11 +21,7 @@
 # @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
@@ -66,11 +62,16 @@ 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 56f9d390c1..c142af6a87 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
+++ b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
@@ -20,10 +20,7 @@
 # @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
@@ -59,11 +56,6 @@ 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 70f970b294..9f5d36f1af 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
@@ -12,11 +12,7 @@
 # @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
 
@@ -38,9 +34,3 @@ 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 4448cf6cab..61a94edc19 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
+++ b/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
@@ -19,8 +19,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
-set PWM_OUT 1234
-
 
 param set-default BAT_N_CELLS 1
 
@@ -37,6 +35,17 @@ 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 be39aab46f..8b76a8d54c 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor
+++ b/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor
@@ -28,12 +28,9 @@
 #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 efe879ff2e..1cede005bc 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4250_teal
+++ b/ROMFS/px4fmu_common/init.d/airframes/4250_teal
@@ -21,16 +21,7 @@
 # @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
@@ -45,10 +36,6 @@ 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
@@ -170,11 +157,21 @@ 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 1e9d6273e8..c5270a78ed 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4500_clover4
+++ b/ROMFS/px4fmu_common/init.d/airframes/4500_clover4
@@ -12,11 +12,7 @@
 # @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
@@ -26,6 +22,7 @@ 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 b912c8ded3..f72e1905df 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
+++ b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
@@ -18,7 +18,6 @@
 . ${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
@@ -59,21 +58,31 @@ 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 fa1b748195..77dc93960a 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
+++ b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
@@ -18,7 +18,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x_cw
-set PWM_OUT 1234
 
 param set-default SYS_MC_EST_GROUP 3
 param set-default SYS_HAS_MAG 0
@@ -58,21 +57,30 @@ 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 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/50000_generic_ground_vehicle b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
index f21f131435..294ddcf6a2 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
+++ b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
@@ -16,7 +16,6 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-
 param set-default BAT_N_CELLS 2
 
 param set-default EKF2_ANGERR_INIT 0.01
@@ -49,13 +48,10 @@ 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 3000f92354..c1b6f2499c 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
@@ -21,7 +21,6 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-
 param set-default BAT_N_CELLS 4
 
 param set-default EKF2_GBIAS_INIT 0.01
@@ -61,11 +60,8 @@ 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
@@ -87,5 +83,3 @@ 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 85c4b9dfd7..b3f83442bd 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
@@ -21,7 +21,6 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-
 param set-default BAT_N_CELLS 2
 
 param set-default EKF2_GBIAS_INIT 0.01
@@ -55,13 +54,12 @@ 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
 
@@ -73,5 +71,3 @@ 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 b282d5fdd2..314381d6ed 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+
+++ b/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+
@@ -23,8 +23,6 @@
 # @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 33ec6cb100..b003288053 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
+++ b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
@@ -14,7 +14,6 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-
 #Set data link loss failsafe mode (0: disabled)
 param set-default NAV_DLL_ACT 0
 
@@ -23,6 +22,5 @@ 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 13ec47f8f4..2e78bfbcec 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
+++ b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
@@ -14,7 +14,6 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-
 #Set data link loss failsafe mode (0: disabled)
 param set-default NAV_DLL_ACT 0
 
@@ -23,6 +22,5 @@ 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 5b2509de47..86f04982f9 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy
+++ b/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy
@@ -23,7 +23,6 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-
 #Set data link loss failsafe mode (0: disabled)
 param set-default NAV_DLL_ACT 0
 
@@ -42,7 +41,5 @@ 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 7c1e9b7b96..2fad0693ee 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x
+++ b/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x
@@ -22,9 +22,6 @@
 # @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 f36c9fcef1..651ced1310 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
+++ b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
@@ -26,10 +26,7 @@
 # @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
@@ -81,12 +78,6 @@ 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
 
@@ -113,9 +104,6 @@ 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
@@ -133,3 +121,6 @@ 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 c8ab1e2d13..f007786318 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+
+++ b/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+
@@ -22,9 +22,6 @@
 # @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 17bf17dda6..1df52c7ecd 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x
+++ b/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x
@@ -24,8 +24,6 @@
 # @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 bd9b48a74e..819fc44376 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+
+++ b/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+
@@ -24,8 +24,7 @@
 # @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 ca4f0f7905..615db8f9aa 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -43,8 +43,6 @@ 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.
 #
@@ -54,6 +52,3 @@ 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.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index 61a096dc5d..99b29c8ac9 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -224,39 +224,10 @@ then
 				else
 					echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
 				fi
-			else
-				set PWM_AUX_OUT none
 			fi
 		else
 			echo "ERROR: Could not start: pwm_out mode_pwm"
 			tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
-			set PWM_AUX_OUT none
-		fi
-
-		# for DShot do not configure pwm values
-		if [ $OUTPUT_CMD != dshot ]
-		then
-			# Set min / max for aux out and rates.
-			if [ $PWM_AUX_OUT != none ]
-			then
-				# Set PWM_AUX output frequency.
-				if [ $PWM_AUX_RATE != none ]
-				then
-					pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
-				fi
-			fi
-		fi
-	fi
-fi
-
-if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
-then
-	if [ $PWM_OUT != none ]
-	then
-		# Set PWM output frequency.
-		if [ $PWM_MAIN_RATE != none ]
-		then
-			pwm rate -c ${PWM_OUT} -r ${PWM_MAIN_RATE}
 		fi
 	fi
 fi
@@ -278,7 +249,6 @@ then
 		fi
 	fi
 
-
 	if mixer load ${OUTPUT_EXTRA_DEV} ${MIXER_EXTRA_FILE}
 	then
 		echo "INFO  [init] Mixer: ${MIXER_EXTRA_FILE} on ${OUTPUT_EXTRA_DEV}"
@@ -286,15 +256,6 @@ then
 		echo "ERROR  [init] Failed loading mixer: ${MIXER_EXTRA_FILE}"
 		tune_control play -t 20
 	fi
-
-	if [ $PWM_EXTRA_OUT != none ]
-	then
-		# Set PWM output frequency.
-		if [ $PWM_EXTRA_RATE != none ]
-		then
-			pwm rate -c ${PWM_EXTRA_OUT} -r ${PWM_EXTRA_RATE}
-		fi
-	fi
 fi
 
 unset OUTPUT_CMD
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
index 06ba384f6d..6b5281b979 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -12,15 +12,4 @@ 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 2830440e79..309ac85883 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@@ -29,9 +29,6 @@ param set-default MPC_JERK_MAX 4.5
 
 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 50d42d4dab..60a2566d1a 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -41,12 +41,6 @@ set MK_MODE none
 set MKBLCTRL_ARG ""
 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
@@ -596,12 +590,6 @@ unset MKBLCTRL_ARG
 unset OUTPUT_MODE
 unset PARAM_DEFAULTS_VER
 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 21acaf67e9..066683182f 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 ed127ef660..63de584264 100644
--- a/posix-configs/bbblue/px4.config
+++ b/posix-configs/bbblue/px4.config
@@ -22,8 +22,6 @@ 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 11ec56d554..f87e07f467 100644
--- a/posix-configs/bbblue/px4_fw.config
+++ b/posix-configs/bbblue/px4_fw.config
@@ -22,8 +22,6 @@ 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/linux_pwm_out/linux_pwm_out.cpp b/src/drivers/linux_pwm_out/linux_pwm_out.cpp
index fd360187f6..a36037f582 100644
--- a/src/drivers/linux_pwm_out/linux_pwm_out.cpp
+++ b/src/drivers/linux_pwm_out/linux_pwm_out.cpp
@@ -558,11 +558,6 @@ int linux_pwm_out_main(int argc, char *argv[])
 		}
 	}
 
-	/** gets the parameters for the esc's pwm */
-	param_get(param_find("PWM_MAIN_DISARM"), &linux_pwm_out::_pwm_disarmed);
-	param_get(param_find("PWM_MAIN_MIN"), &linux_pwm_out::_pwm_min);
-	param_get(param_find("PWM_MAIN_MAX"), &linux_pwm_out::_pwm_max);
-
 	/*
 	 * Start/load the driver.
 	 */
diff --git a/src/drivers/pwm_out/PWMOut.cpp b/src/drivers/pwm_out/PWMOut.cpp
index b2faca0851..571a15aca3 100644
--- a/src/drivers/pwm_out/PWMOut.cpp
+++ b/src/drivers/pwm_out/PWMOut.cpp
@@ -578,37 +578,17 @@ void PWMOut::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;
 
 	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;
@@ -624,19 +604,14 @@ 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, PWM_LOWEST_MIN, 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);
 				}
 			}
 		}
@@ -644,19 +619,14 @@ 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, PWM_LOWEST_MAX, 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);
 				}
 			}
 		}
@@ -664,16 +634,14 @@ 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, 0, 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);
 				}
 			}
 		}
@@ -681,19 +649,14 @@ 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, 0, 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);
 				}
 			}
 
@@ -720,6 +683,24 @@ 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 370c0755f8..0855430b1c 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1199,21 +1199,10 @@ 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
 	{
 		pwm_output_values pwm{};
@@ -1221,19 +1210,14 @@ 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, PWM_LOWEST_MIN, 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);
 				}
 			}
 		}
@@ -1248,19 +1232,14 @@ 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, PWM_LOWEST_MAX, 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);
 				}
 			}
 		}
@@ -1275,16 +1254,14 @@ 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, 0, 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);
 				}
 			}
 		}
@@ -1299,19 +1276,14 @@ 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, 0, 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);
 				}
 			}
 		}
@@ -1325,7 +1297,7 @@ void PX4IO::update_params()
 
 		for (unsigned i = 0; i < _max_actuators; i++) {
 			sprintf(str, "%s_REV%u", prefix, i + 1);
-			int32_t pwm_rev = -1;
+			int32_t pwm_rev = 0;
 
 			if (param_get(param_find(str), &pwm_rev) == PX4_OK) {
 				if (pwm_rev >= 1) {
diff --git a/src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp b/src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp
index 883a94d8df..2fcb7f0418 100644
--- a/src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp
+++ b/src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp
@@ -556,11 +556,6 @@ int snapdragon_pwm_out_main(int argc, char *argv[])
 		}
 	}
 
-	// gets the parameters for the esc's pwm
-	param_get(param_find("PWM_MAIN_DISARM"), &snapdragon_pwm::_pwm_disarmed);
-	param_get(param_find("PWM_MAIN_MIN"), &snapdragon_pwm::_pwm_min);
-	param_get(param_find("PWM_MAIN_MAX"), &snapdragon_pwm::_pwm_max);
-
 	/*
 	 * Start/load the driver.
 	 */
diff --git a/src/lib/parameters/param_translation.cpp b/src/lib/parameters/param_translation.cpp
index cc1621a4a1..3a5d9aae31 100644
--- a/src/lib/parameters/param_translation.cpp
+++ b/src/lib/parameters/param_translation.cpp
@@ -141,29 +141,6 @@ 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");
-		}
-	}
-
 	// translate (SPI) calibration ID parameters. This can be removed after the next release (current release=1.10)
 
 	if (node->type != BSON_INT32) {
diff --git a/src/lib/pwm/pwm_aux_params.yaml b/src/lib/pwm/pwm_aux_params.yaml
index bb9d939d7c..3c209d04df 100644
--- a/src/lib/pwm/pwm_aux_params.yaml
+++ b/src/lib/pwm/pwm_aux_params.yaml
@@ -6,87 +6,37 @@ 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: 0
@@ -100,10 +50,9 @@ parameters:
                 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_DISARMED will be used
             type: int32
             unit: us
-            min: -1
+            min: 0
             max: 2150
             num_instances: *max_num_config_instances
             instance_start: 1
@@ -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 d17dc69466..b85e6c27ae 100644
--- a/src/lib/pwm/pwm_main_params.yaml
+++ b/src/lib/pwm/pwm_main_params.yaml
@@ -6,87 +6,37 @@ 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_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_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_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: 0
@@ -100,14 +50,13 @@ parameters:
                 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_DISARMED 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_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