diff --git a/posix-configs/posixtest/init/rc.S b/posix-configs/posixtest/init/rc.S
index 374ed3d677..30e9d5eb82 100644
--- a/posix-configs/posixtest/init/rc.S
+++ b/posix-configs/posixtest/init/rc.S
@@ -1,20 +1,46 @@
 uorb start
+mavlink start -u 14556
 simulator start -s
-sleep 2
-barosim start
-adcsim start
-accelsim start
-gyrosim start
-tone_alarm start
 param set CAL_GYRO0_ID 2293760
 param set CAL_ACC0_ID 1310720
 param set CAL_ACC1_ID 1376256
 param set CAL_MAG0_ID 196608
 rgbled start
-mavlink start -r 80000 -u 14555
-sensors start
-hil mode_pwm
+tone_alarm start
+gyrosim start
+accelsim start
+barosim start
+adcsim start
 commander start
+sensors start
+ekf_att_pos_estimator start
+mc_pos_control start
+mc_att_control start
+hil mode_pwm
 dataman start
 navigator start
-list_devices
+param set MAV_TYPE 2
+param set RC1_MAX 2015
+param set RC1_MIN 996
+param set RC1_TRIM 1502
+param set RC1_REV -1
+param set RC2_MAX 2016 
+param set RC2_MIN 995
+param set RC2_TRIM 1500
+param set RC3_MAX 2003
+param set RC3_MIN 992
+param set RC3_TRIM 992
+param set RC4_MAX 2011
+param set RC4_MIN 997
+param set RC4_TRIM 1504
+param set RC4_REV -1
+param set RC6_MAX 2016
+param set RC6_MIN 992
+param set RC6_TRIM 1504
+param set RC_CHAN_CNT 8
+param set RC_MAP_MODE_SW 5
+param set RC_MAP_POSCTL_SW 7
+param set RC_MAP_RETURN_SW 8
+param set MC_PITCHRATE_P 0.05
+param set MC_ROLLRATE_P 0.05
+mixer load /dev/pwm_output0 ../../ROMFS/px4fmu_common/mixers/quad_x.main.mix