diff --git a/ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt
index 54b2dafbf2..b64d7d8ef5 100644
--- a/ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt
@@ -31,45 +31,9 @@
 #
 ############################################################################
 
+add_subdirectory(airframes)
+
 px4_add_romfs_files(
-	10016_iris
-	10020_if750a
-	10030_px4vision
-	1010_iris_opt_flow
-	1010_iris_opt_flow.post
-	1011_iris_irlock
-	1012_iris_rplidar
-	1013_iris_vision
-	1013_iris_vision.post
-	1014_solo
-	1015_iris_obs_avoid
-	1015_iris_obs_avoid.post
-	1016_iris_rtps
-	1016_iris_rtps.post
-	1017_iris_opt_flow_mockup
-	1018_iris_vision_velocity
-	1019_iris_dual_gps
-	1020_uuv_generic
-	1021_uuv_hippocampus
-	1030_plane
-	1031_plane_cam
-	1032_plane_catapult
-	1033_plane_lidar
-	1033_rascal
-	1034_rascal-electric
-	1040_standard_vtol
-	1041_tailsitter
-	1042_tiltrotor
-	1060_rover
-	1061_r1_rover
-	1062_tf-r1
-	1070_boat
-	3010_quadrotor_x
-	3011_hexarotor_x
-	17001_tf-g1
-	2507_cloudship
-	6011_typhoon_h480
-	6011_typhoon_h480.post
 	rc.replay
 	rcS
 )
diff --git a/ROMFS/px4fmu_common/init.d-posix/10016_iris b/ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris
similarity index 99%
rename from ROMFS/px4fmu_common/init.d-posix/10016_iris
rename to ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris
index 9f90ade5bb..260d9e1474 100644
--- a/ROMFS/px4fmu_common/init.d-posix/10016_iris
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris
@@ -10,4 +10,3 @@
 sh /etc/init.d/rc.mc_defaults
 
 set MIXER quad_w
-
diff --git a/ROMFS/px4fmu_common/init.d-posix/10020_if750a b/ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/10020_if750a
rename to ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a
diff --git a/ROMFS/px4fmu_common/init.d-posix/10030_px4vision b/ROMFS/px4fmu_common/init.d-posix/airframes/10030_px4vision
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/10030_px4vision
rename to ROMFS/px4fmu_common/init.d-posix/airframes/10030_px4vision
diff --git a/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow b/ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow
similarity index 88%
rename from ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow
index 595c06b045..998d3aa03e 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/10016_iris
+sh /etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow.post b/ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow.post
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow.post
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow.post
diff --git a/ROMFS/px4fmu_common/init.d-posix/1011_iris_irlock b/ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock
similarity index 87%
rename from ROMFS/px4fmu_common/init.d-posix/1011_iris_irlock
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock
index 71bf946714..3cc47459d5 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1011_iris_irlock
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/10016_iris
+sh /etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/1012_iris_rplidar b/ROMFS/px4fmu_common/init.d-posix/airframes/1012_iris_rplidar
similarity index 76%
rename from ROMFS/px4fmu_common/init.d-posix/1012_iris_rplidar
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1012_iris_rplidar
index b334fcc639..f1b8290cea 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1012_iris_rplidar
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1012_iris_rplidar
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/10016_iris
+sh /etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision b/ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision
similarity index 88%
rename from ROMFS/px4fmu_common/init.d-posix/1013_iris_vision
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision
index 7bf135d792..4f1f2696f7 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/10016_iris
+sh /etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision.post b/ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision.post
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/1013_iris_vision.post
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision.post
diff --git a/ROMFS/px4fmu_common/init.d-posix/1014_solo b/ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/1014_solo
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo
diff --git a/ROMFS/px4fmu_common/init.d-posix/1015_iris_obs_avoid b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid
similarity index 81%
rename from ROMFS/px4fmu_common/init.d-posix/1015_iris_obs_avoid
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid
index bae5b458fd..2acec65ac0 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1015_iris_obs_avoid
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/10016_iris
+sh /etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/1015_iris_obs_avoid.post b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid.post
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/1015_iris_obs_avoid.post
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid.post
diff --git a/ROMFS/px4fmu_common/init.d-posix/1016_iris_rtps b/ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps
similarity index 65%
rename from ROMFS/px4fmu_common/init.d-posix/1016_iris_rtps
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps
index a0b09e29d1..7a3fe90c3b 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1016_iris_rtps
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps
@@ -5,4 +5,4 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/10016_iris
+sh /etc/init.d-posix/airframes/10016_iris
diff --git a/ROMFS/px4fmu_common/init.d-posix/1016_iris_rtps.post b/ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps.post
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/1016_iris_rtps.post
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps.post
diff --git a/ROMFS/px4fmu_common/init.d-posix/1017_iris_opt_flow_mockup b/ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup
similarity index 87%
rename from ROMFS/px4fmu_common/init.d-posix/1017_iris_opt_flow_mockup
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup
index 324de3efe1..35178650cc 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1017_iris_opt_flow_mockup
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/10016_iris
+sh /etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/1018_iris_vision_velocity b/ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity
similarity index 83%
rename from ROMFS/px4fmu_common/init.d-posix/1018_iris_vision_velocity
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity
index 6e8876f4dc..a66139d3e6 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1018_iris_vision_velocity
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/10016_iris
+sh /etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/1019_iris_dual_gps b/ROMFS/px4fmu_common/init.d-posix/airframes/1019_iris_dual_gps
similarity index 83%
rename from ROMFS/px4fmu_common/init.d-posix/1019_iris_dual_gps
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1019_iris_dual_gps
index f763d6e834..f15d34fc70 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1019_iris_dual_gps
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1019_iris_dual_gps
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/10016_iris
+sh /etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/1020_uuv_generic b/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/1020_uuv_generic
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic
diff --git a/ROMFS/px4fmu_common/init.d-posix/1021_uuv_hippocampus b/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/1021_uuv_hippocampus
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus
diff --git a/ROMFS/px4fmu_common/init.d-posix/1030_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/1030_plane
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
diff --git a/ROMFS/px4fmu_common/init.d-posix/1031_plane_cam b/ROMFS/px4fmu_common/init.d-posix/airframes/1031_plane_cam
similarity index 82%
rename from ROMFS/px4fmu_common/init.d-posix/1031_plane_cam
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1031_plane_cam
index 9521f47932..63ae49950d 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1031_plane_cam
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1031_plane_cam
@@ -3,7 +3,7 @@
 # @name Plane SITL with camera
 #
 
-sh /etc/init.d-posix/1030_plane
+sh /etc/init.d-posix/airframes/1030_plane
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/1032_plane_catapult b/ROMFS/px4fmu_common/init.d-posix/airframes/1032_plane_catapult
similarity index 71%
rename from ROMFS/px4fmu_common/init.d-posix/1032_plane_catapult
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1032_plane_catapult
index 9ae2ce1abe..e0b7059533 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1032_plane_catapult
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1032_plane_catapult
@@ -3,7 +3,7 @@
 # @name Plane SITL with catapult
 #
 
-sh /etc/init.d-posix/1030_plane
+sh /etc/init.d-posix/airframes/1030_plane
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/1033_plane_lidar b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_plane_lidar
similarity index 74%
rename from ROMFS/px4fmu_common/init.d-posix/1033_plane_lidar
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1033_plane_lidar
index 9a2fadf22c..310e698a24 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1033_plane_lidar
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_plane_lidar
@@ -3,7 +3,7 @@
 # @name Plane SITL with downward facing LIDAR.
 #
 
-sh /etc/init.d-posix/1030_plane
+sh /etc/init.d-posix/airframes/1030_plane
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/1033_rascal b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/1033_rascal
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
diff --git a/ROMFS/px4fmu_common/init.d-posix/1034_rascal-electric b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/1034_rascal-electric
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
diff --git a/ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
diff --git a/ROMFS/px4fmu_common/init.d-posix/1041_tailsitter b/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/1041_tailsitter
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
diff --git a/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
diff --git a/ROMFS/px4fmu_common/init.d-posix/1060_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/1060_rover
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
diff --git a/ROMFS/px4fmu_common/init.d-posix/1061_r1_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/1061_r1_rover
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
diff --git a/ROMFS/px4fmu_common/init.d-posix/1062_tf-r1 b/ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/1062_tf-r1
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1
diff --git a/ROMFS/px4fmu_common/init.d-posix/1070_boat b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/1070_boat
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
diff --git a/ROMFS/px4fmu_common/init.d-posix/17001_tf-g1 b/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/17001_tf-g1
rename to ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
diff --git a/ROMFS/px4fmu_common/init.d-posix/2507_cloudship b/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/2507_cloudship
rename to ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship
diff --git a/ROMFS/px4fmu_common/init.d-posix/3010_quadrotor_x b/ROMFS/px4fmu_common/init.d-posix/airframes/3010_quadrotor_x
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/3010_quadrotor_x
rename to ROMFS/px4fmu_common/init.d-posix/airframes/3010_quadrotor_x
diff --git a/ROMFS/px4fmu_common/init.d-posix/3011_hexarotor_x b/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/3011_hexarotor_x
rename to ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
diff --git a/ROMFS/px4fmu_common/init.d-posix/6011_typhoon_h480 b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/6011_typhoon_h480
rename to ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
diff --git a/ROMFS/px4fmu_common/init.d-posix/6011_typhoon_h480.post b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480.post
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/6011_typhoon_h480.post
rename to ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480.post
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
new file mode 100644
index 0000000000..e414cea3ee
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -0,0 +1,73 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_romfs_files(
+	10016_iris
+	10020_if750a
+	10030_px4vision
+	1010_iris_opt_flow
+	1010_iris_opt_flow.post
+	1011_iris_irlock
+	1012_iris_rplidar
+	1013_iris_vision
+	1013_iris_vision.post
+	1014_solo
+	1015_iris_obs_avoid
+	1015_iris_obs_avoid.post
+	1016_iris_rtps
+	1016_iris_rtps.post
+	1017_iris_opt_flow_mockup
+	1018_iris_vision_velocity
+	1019_iris_dual_gps
+	1020_uuv_generic
+	1021_uuv_hippocampus
+	1030_plane
+	1031_plane_cam
+	1032_plane_catapult
+	1033_plane_lidar
+	1033_rascal
+	1034_rascal-electric
+	1040_standard_vtol
+	1041_tailsitter
+	1042_tiltrotor
+	1060_rover
+	1061_r1_rover
+	1062_tf-r1
+	1070_boat
+	3010_quadrotor_x
+	3011_hexarotor_x
+	17001_tf-g1
+	2507_cloudship
+	6011_typhoon_h480
+	6011_typhoon_h480.post
+)
diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index ab970f1f88..100643cfc8 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -44,10 +44,12 @@ else
 	# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
 	# TODO: unify with rc.autostart generation
 	# shellcheck disable=SC2012
-	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
+	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "Error: Unknown model '$PX4_SIM_MODEL'"
+		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
 		exit 1
+	else
+		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi
 
@@ -195,7 +197,7 @@ fi
 
 # Autostart ID
 autostart_file=''
-for f in etc/init.d-posix/"$(param show -q SYS_AUTOSTART)"_*
+for f in etc/init.d-posix/airframes/"$(param show -q SYS_AUTOSTART)"_*
 do
 	filename=$(basename "$f")
 	case "$filename" in