diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic b/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic
index 1b2416186aa..7122c20d1e4 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic
@@ -11,8 +11,6 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-#param set CBRK_GPSFAIL 240024
-
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}
 
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus b/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus
index bb8856741f6..e4752fba882 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus
@@ -11,8 +11,6 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-#param set CBRK_GPSFAIL 240024
-
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}
 
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
index 8c1291ecb8e..6c080c553ee 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
@@ -42,15 +42,9 @@ param set-default NAV_LOITER_RAD 50
 
 param set-default RWTO_TKOFF 1
 
-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set FW_THR_SLEW_MAX 0.3
-
 param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_MAX_ROLL 10
 
-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set-default RWTO_MAX_THR 0.6
-
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8
 
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
index e764a249921..5028ab15979 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
@@ -42,15 +42,9 @@ param set-default NAV_LOITER_RAD 50
 
 param set-default RWTO_TKOFF 1
 
-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set FW_THR_SLEW_MAX 0.3
-
 param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_MAX_ROLL 10
 
-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set RWTO_MAX_THR 0.6
-
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8
 
diff --git a/ROMFS/px4fmu_common/init.d-posix/px4-rc.params b/ROMFS/px4fmu_common/init.d-posix/px4-rc.params
index 49725f622b0..d05f50146a4 100644
--- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.params
+++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.params
@@ -1,5 +1,5 @@
 #!/bin/sh
 # shellcheck disable=SC2154
 
-#param set MAV_SYS_ID $((px4_instance+1))
-#param set IMU_INTEG_RATE 250
+#param set-default MAV_SYS_ID $((px4_instance+1))
+#param set-default IMU_INTEG_RATE 250
diff --git a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 b/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
index e2ad00c8099..89ea3009eea 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
+++ b/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
@@ -26,7 +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
+set MAV_TYPE 8
+param set MAV_TYPE ${MAV_TYPE}
 
 
 set MIXER IO_pass
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
index 534cc9ce696..4a044939d03 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
+++ b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
@@ -27,48 +27,29 @@ set PWM_OUT 1234
 
 
 # Attitude & rate gains
-#param set MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.15
-#param set MC_ROLLRATE_I 0.9
 param set-default MC_ROLLRATE_D 0.0013
 
-#param set MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.15
-#param set MC_PITCHRATE_I 1.1
 param set-default MC_PITCHRATE_D 0.0016
 
 param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.2
-#param set MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_D 0
 param set-default MC_YAW_FF 0.5
 
-#param set MC_ROLL_TC 0.19
-#param set MC_PITCH_TC 0.16
-
-# Manual mode settings: Unleash Draco R's power :)
-#param set MPC_MAN_TILT_MAX 70
-#param set MC_PITCHRATE_MAX 1600
-#param set MC_ROLLRATE_MAX 1600
-#param set MC_YAWRATE_MAX 700
 param set-default MPC_MANTHR_MAX 0.9
 param set-default MPC_MANTHR_MIN 0.08
-#param set MPC_MAN_TILT_MAX 35
-#param set MPC_TILTMAX_AIR 20
 
 # Filter settings
 param set-default IMU_DGYRO_CUTOFF 90
 param set-default IMU_GYRO_CUTOFF 100
 
-# Thrust curve (avoids the need for TPA)
-#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 SYS_FMU_TASK 1
 param set-default SENS_BOARD_ROT 10
 
 # EKF2
@@ -96,7 +77,6 @@ param set-default BAT1_SOURCE 0
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_DIV 10.14
 param set-default BAT1_A_PER_V 18.18
-#param set CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 2
 
 # Filter settings
@@ -106,9 +86,6 @@ param set-default IMU_DGYRO_CUTOFF 70
 # Don't try to be intelligent on RC loss: just cut the motors
 param set-default NAV_RCL_ACT 6
 
-# enable to use high-rate logging for better rate tracking analysis
-# param set SDLOG_PROFILE 19
-
 # TELEM1 ttyS1 - Wifi module
 param set-default MAV_0_CONFIG 101
 param set-default MAV_0_RATE 0
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4072_draco b/ROMFS/px4fmu_common/init.d/airframes/4072_draco
index 0a98a9e2513..2c85cd642b0 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4072_draco
+++ b/ROMFS/px4fmu_common/init.d/airframes/4072_draco
@@ -75,23 +75,11 @@ param set-default SENS_BOARD_ROT 2
 
 param set-default BAT1_SOURCE 0
 param set-default CBRK_IO_SAFETY 22027
-#param set COM_DISARM_LAND 3
 
 # Filter settings
 param set-default IMU_GYRO_CUTOFF 90
 param set-default IMU_DGYRO_CUTOFF 100
 
-# Don't try to be intelligent on RC loss: just cut the motors
-#param set NAV_RCL_ACT 6
-
 # enable to use high-rate logging for better rate tracking analysis
 param set-default SDLOG_PROFILE 27
 
-# TELEM1 ttyS1
-#param set MAV_0_CONFIG 101
-#param set MAV_0_MODE 2  # onboard
-#param set MAV_0_RATE 20000
-#param set SER_TEL1_BAUD 921600
-
-# TELEM2 ttyS2
-#param set MAV_1_CONFIG 0
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
index ed3d69b9e16..2d054b4b4c3 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
+++ b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
@@ -27,44 +27,21 @@ set PWM_OUT 1234
 
 
 # Attitude & rate gains
-#param set MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.15
-#param set MC_ROLLRATE_I 0.9
 param set-default MC_ROLLRATE_D 0.0013
 
-#param set MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.15
-#param set MC_PITCHRATE_I 1.1
 param set-default MC_PITCHRATE_D 0.0016
 
 param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.2
-#param set MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_D 0
 
-#param set MC_ROLL_TC 0.19
-#param set MC_PITCH_TC 0.16
-
-# Manual mode settings: Unleash Draco R's power :)
-#param set MPC_MAN_TILT_MAX 70
-#param set MC_PITCHRATE_MAX 1600
-#param set MC_ROLLRATE_MAX 1600
-#param set MC_YAWRATE_MAX 700
 param set-default MPC_MANTHR_MIN 0.08
-#param set MPC_MAN_TILT_MAX 35
-#param set MPC_TILTMAX_AIR 20
 
 # Filter settings
 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
@@ -106,7 +83,6 @@ param set-default BAT1_SOURCE 0
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_DIV 10.14
 param set-default BAT1_A_PER_V 18.18
-#param set CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 2
 
 # Filter settings
@@ -115,9 +91,6 @@ param set-default IMU_GYRO_CUTOFF 90
 # Don't try to be intelligent on RC loss: just cut the motors
 param set-default NAV_RCL_ACT 6
 
-# enable to use high-rate logging for better rate tracking analysis
-# param set SDLOG_PROFILE 19
-
 # TELEM1 ttyS1 - Wifi module
 param set-default MAV_0_CONFIG 101
 param set-default MAV_0_RATE 0
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250 b/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
index 9576fd24be8..ceaa283622e 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
@@ -38,8 +38,6 @@ 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/4100_tiltquadrotor b/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor
index 3fd3f11d74f..bb265a53cde 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor
+++ b/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor
@@ -24,8 +24,7 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-#Parameters here:
-param set LED_RGB_MAXBRT 8
+param set-default LED_RGB_MAXBRT 8
 
 
 # Configure this as Quadrotor
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4250_teal b/ROMFS/px4fmu_common/init.d/airframes/4250_teal
index c7ade39b4ae..60b24584136 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4250_teal
+++ b/ROMFS/px4fmu_common/init.d/airframes/4250_teal
@@ -189,7 +189,7 @@ param set-default CAL_ACC1_PRIO 0
 param set-default CAL_GYRO0_PRIO 255
 param set-default CAL_GYRO1_PRIO 0
 # Logger mode. Default(1) + estimator replay(2) + thermal calibration(4)
-param set SDLOG_PROFILE 6
+param set-default SDLOG_PROFILE 6
 
 # Do not start frsky_telemetry on port ttyS6 by default, PGA460 lives there. 500 is in arbitrary unused number.
 param set TEL_FRSKY_CONFIG 500
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
index fd2463ae1d9..54165f7577f 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
+++ b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
@@ -53,8 +53,6 @@ param set-default MPC_Z_VEL_P_ACC 8
 param set-default MPC_Z_VEL_I_ACC 6
 param set-default MPC_HOLD_MAX_XY 0.1
 param set-default MPC_MAX_FLOW_HGT 3
-#param set IMU_GYRO_NF_FREQ 10
-#param set IMU_GYRO_NF_BW 20
 
 param set-default NAV_RCL_ACT 3
 
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 c6ac9a2f9fe..1fa95631f6b 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
@@ -72,7 +72,6 @@ param set-default GND_MAX_ANG 3.1415
 param set-default RBCLW_BAUD 8
 param set-default RBCLW_COUNTS_REV 1200
 param set-default RBCLW_ADDRESS 128
-# param set SER_TEL4_BAUD 115200
 # 104 corresponds to Telem 4
 param set-default RBCLW_SER_CFG 104
 # Start this driver after setting parameters, because the driver uses some of those parameters.
diff --git a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
index 705d185a6a4..25071ba9d77 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
+++ b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
@@ -20,7 +20,6 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-#param set CBRK_GPSFAIL 240024
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
index 360d700fd60..9bd46a8908b 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
+++ b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
@@ -20,7 +20,6 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-#param set CBRK_GPSFAIL 240024
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}