diff --git a/boards/modalai/voxl2/scripts/install-voxl.sh b/boards/modalai/voxl2/scripts/install-voxl.sh
index 4a88a7a56f..a908b0a835 100755
--- a/boards/modalai/voxl2/scripts/install-voxl.sh
+++ b/boards/modalai/voxl2/scripts/install-voxl.sh
@@ -20,7 +20,6 @@ adb shell chmod a+x /usr/bin/voxl-px4-hitl-start
 
 # Push configuration file
 adb shell mkdir -p /etc/modalai
-adb push boards/modalai/voxl2/target/voxl-px4-set-default-parameters.config /etc/modalai
 adb push boards/modalai/voxl2/target/voxl-px4-fake-imu-calibration.config /etc/modalai
 adb push boards/modalai/voxl2/target/voxl-px4-hitl-set-default-parameters.config /etc/modalai
 
diff --git a/boards/modalai/voxl2/target/voxl-px4 b/boards/modalai/voxl2/target/voxl-px4
index 3ce4309ee2..bf1b62e981 100755
--- a/boards/modalai/voxl2/target/voxl-px4
+++ b/boards/modalai/voxl2/target/voxl-px4
@@ -129,12 +129,6 @@ else
     DAEMON="-d"
 fi
 
-if [ ! -f /data/px4/param/parameters ]; then
-   echo "[INFO] Setting default parameters for PX4 on voxl"
-   px4 $DAEMON -s /etc/modalai/voxl-px4-set-default-parameters.config
-   /bin/sync
-fi
-
 if [ $SENSOR_CAL == "FAKE" ]; then
    /bin/echo "[INFO] Setting up fake sensor calibration values"
    px4 $DAEMON -s /etc/modalai/voxl-px4-fake-imu-calibration.config
diff --git a/boards/modalai/voxl2/target/voxl-px4-set-default-parameters.config b/boards/modalai/voxl2/target/voxl-px4-set-default-parameters.config
deleted file mode 100755
index bb4045b397..0000000000
--- a/boards/modalai/voxl2/target/voxl-px4-set-default-parameters.config
+++ /dev/null
@@ -1,192 +0,0 @@
-#!/bin/sh
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-. px4-alias.sh
-
-param select /data/px4/param/parameters
-
-# Make sure we are running at 800Hz on IMU
-param set IMU_GYRO_RATEMAX 800
-
-# EKF2 Parameters
-param set EKF2_IMU_POS_X 0.027
-param set EKF2_IMU_POS_Y 0.009
-param set EKF2_IMU_POS_Z -0.019
-param set EKF2_EV_DELAY 5
-param set EKF2_AID_MASK 280
-param set EKF2_ABL_LIM 0.8
-param set EKF2_TAU_POS 0.25
-param set EKF2_TAU_VEL 0.25
-
-param set MC_AIRMODE 0
-
-param set MC_YAW_P 2.0
-param set MC_YAWRATE_P 0.15
-param set MC_YAWRATE_I 0.1
-param set MC_YAWRATE_D 0.0
-param set MC_YAWRATE_K 1.0
-
-param set MC_PITCH_P 5.5
-param set MC_PITCHRATE_P 0.08
-param set MC_PITCHRATE_I 0.2
-param set MC_PITCHRATE_D 0.0013
-param set MC_PITCHRATE_K 1.0
-
-param set MC_ROLL_P 5.5
-param set MC_ROLLRATE_P 0.08
-param set MC_ROLLRATE_I 0.2
-param set MC_ROLLRATE_D 0.0013
-param set MC_ROLLRATE_K 1.0
-
-param set MPC_VELD_LP 5.0
-
-# tweak MPC_THR_MIN to prevent roll/pitch losing control
-# authority under rapid downward acceleration
-param set MPC_THR_MAX 0.75
-param set MPC_THR_MIN 0.08
-param set MPC_THR_HOVER 0.42
-param set MPC_MANTHR_MIN 0.05
-
-# default position mode with a little expo, smooth mode is terrible
-param set MPC_POS_MODE 0
-param set MPC_YAW_EXPO 0.20
-param set MPC_XY_MAN_EXPO 0.20
-param set MPC_Z_MAN_EXPO 0.20
-
-# max velocities
-param set MPC_VEL_MANUAL 5.0
-param set MPC_XY_VEL_MAX 5.0
-param set MPC_XY_CRUISE 5.0
-param set MPC_Z_VEL_MAX_DN 1.5
-param set MPC_Z_VEL_MAX_UP 4.0
-param set MPC_LAND_SPEED 1.0
-
-# Horizontal position PID
-param set MPC_XY_P 0.95
-param set MPC_XY_VEL_P_ACC 3.00
-param set MPC_XY_VEL_I_ACC 0.10
-param set MPC_XY_VEL_D_ACC 0.00
-
-# Vertical position PID
-# PX4 Defaults
-param set MPC_Z_P 1.0
-param set MPC_Z_VEL_P_ACC 8.0
-param set MPC_Z_VEL_I_ACC 2.0
-param set MPC_Z_VEL_D_ACC 0.0
-
-param set MPC_TKO_RAMP_T 1.50
-param set MPC_TKO_SPEED	1.50
-
-# Set the ESC outputs to function as motors
-param set VOXL_ESC_FUNC1 101
-param set VOXL_ESC_FUNC2 103
-param set VOXL_ESC_FUNC3 104
-param set VOXL_ESC_FUNC4 102
-
-param set VOXL_ESC_SDIR1 0
-param set VOXL_ESC_SDIR2 0
-param set VOXL_ESC_SDIR3 0
-param set VOXL_ESC_SDIR4 0
-
-param set VOXL_ESC_CONFIG 1
-param set VOXL_ESC_REV 0
-param set VOXL_ESC_MODE 0
-param set VOXL_ESC_BAUD 2000000
-param set VOXL_ESC_RPM_MAX 10500
-param set VOXL_ESC_RPM_MIN 1000
-
-# Set the Voxl2 IO outputs to function as motors
-param set VOXL2_IO_FUNC1 101
-param set VOXL2_IO_FUNC2 102
-param set VOXL2_IO_FUNC3 103
-param set VOXL2_IO_FUNC4 104
-
-param set VOXL2_IO_BAUD 921600
-param set VOXL2_IO_MIN 1000
-param set VOXL2_IO_MAX 2000
-
-# Some parameters for control allocation
-param set CA_ROTOR_COUNT 4
-param set CA_R_REV 0
-param set CA_AIRFRAME 0
-param set CA_ROTOR_COUNT 4
-param set CA_ROTOR0_PX 0.15
-param set CA_ROTOR0_PY 0.15
-param set CA_ROTOR1_PX -0.15
-param set CA_ROTOR1_PY -0.15
-param set CA_ROTOR2_PX 0.15
-param set CA_ROTOR2_PY -0.15
-param set CA_ROTOR2_KM -0.05
-param set CA_ROTOR3_PX -0.15
-param set CA_ROTOR3_PY 0.15
-param set CA_ROTOR3_KM -0.05
-
-# Some parameter settings to disable / ignore certain preflight checks
-
-# No GPS driver yet so disable it
-param set SYS_HAS_GPS 0
-
-# Allow arming wihtout a magnetometer (Need magnetometer driver)
-param set SYS_HAS_MAG 0
-param set EKF2_MAG_TYPE	5
-
-# Allow arming without battery check (Need voxlpm driver)
-param set CBRK_SUPPLY_CHK 894281
-
-# Allow arming without an SD card
-param set COM_ARM_SDCARD 0
-
-# Allow arming wihtout CPU load information
-param set COM_CPU_MAX 0.0
-
-# Disable auto disarm. This is number of seconds to wait for takeoff
-# after arming. If no takeoff happens then it will disarm. A negative
-# value disables this.
-param set COM_DISARM_PRFLT -1
-
-# This parameter doesn't exist anymore. Need to see what the new method is.
-# param set MAV_BROADCAST 0
-
-# Doesn't work without setting this to Quadcopter
-param set MAV_TYPE 2
-
-# Parameters that we don't use but QGC complains about if they aren't there
-param set SYS_AUTOSTART 4001
-
-# Default RC channel mappings
-param set RC_MAP_ACRO_SW 0
-param set RC_MAP_ARM_SW 0
-param set RC_MAP_AUX1 0
-param set RC_MAP_AUX2 0
-param set RC_MAP_AUX3 0
-param set RC_MAP_AUX4 0
-param set RC_MAP_AUX5 0
-param set RC_MAP_AUX6 0
-param set RC_MAP_FAILSAFE 0
-param set RC_MAP_FLAPS 0
-param set RC_MAP_FLTMODE 6
-param set RC_MAP_GEAR_SW 0
-param set RC_MAP_KILL_SW 7
-param set RC_MAP_LOITER_SW 0
-param set RC_MAP_MAN_SW 0
-param set RC_MAP_MODE_SW 0
-param set RC_MAP_OFFB_SW 0
-param set RC_MAP_PARAM1 0
-param set RC_MAP_PARAM2 0
-param set RC_MAP_PARAM3 0
-param set RC_MAP_PITCH 2
-param set RC_MAP_POSCTL_SW 0
-param set RC_MAP_RATT_SW 0
-param set RC_MAP_RETURN_SW 0
-param set RC_MAP_ROLL 1
-param set RC_MAP_STAB_SW 0
-param set RC_MAP_THROTTLE 3
-param set RC_MAP_TRANS_SW 0
-param set RC_MAP_YAW 4
-
-param save
-
-sleep 2
-
-# Need px4-shutdown otherwise Linux system shutdown is called
-px4-shutdown