diff --git a/boards/airmind/mindpx-v2/init/rc.board_defaults b/boards/airmind/mindpx-v2/init/rc.board_defaults
index 77a1dfb7951..82e1fb82a55 100644
--- a/boards/airmind/mindpx-v2/init/rc.board_defaults
+++ b/boards/airmind/mindpx-v2/init/rc.board_defaults
@@ -3,11 +3,5 @@
 # Airmind Mindpx-v2 specific board defaults
 #------------------------------------------------------------------------------
 
-
-if [ $AUTOCNF = yes ]
-then
-	# Disable safety switch by default
-	param set CBRK_IO_SAFETY 22027
-
-fi
-
+# Disable safety switch by default
+param set-default CBRK_IO_SAFETY 22027
diff --git a/boards/av/x-v1/init/rc.board_defaults b/boards/av/x-v1/init/rc.board_defaults
index 1192c2f93eb..1fdf1ecb344 100644
--- a/boards/av/x-v1/init/rc.board_defaults
+++ b/boards/av/x-v1/init/rc.board_defaults
@@ -4,13 +4,10 @@
 #------------------------------------------------------------------------------
 
 # system_power unavailable
-param set CBRK_SUPPLY_CHK 894281
+param set-default CBRK_SUPPLY_CHK 894281
 
-if [ $AUTOCNF = yes ]
-then
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-fi
+# Multi-EKF
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
 
 set LOGGER_BUF 64
diff --git a/boards/bitcraze/crazyflie/init/rc.board_defaults b/boards/bitcraze/crazyflie/init/rc.board_defaults
index fdf37adf70c..a6e185fce0d 100644
--- a/boards/bitcraze/crazyflie/init/rc.board_defaults
+++ b/boards/bitcraze/crazyflie/init/rc.board_defaults
@@ -4,16 +4,8 @@
 #------------------------------------------------------------------------------
 
 # system_power unavailable
-param set CBRK_SUPPLY_CHK 894281
+param set-default CBRK_SUPPLY_CHK 894281
+param set-default SYS_AUTOSTART 4900
 
-if param compare SYS_AUTOSTART 0
-then
-	param set SYS_AUTOSTART 4900
-	set AUTOCNF yes
-fi
-
-if [ $AUTOCNF = yes ]
-then
-	# don't probe external I2C
-	param set SENS_EXT_I2C_PRB 0
-fi
+# don't probe external I2C
+param set-default SENS_EXT_I2C_PRB 0
diff --git a/boards/bitcraze/crazyflie21/init/rc.board_defaults b/boards/bitcraze/crazyflie21/init/rc.board_defaults
index 38e66417569..a3db1fcefbf 100644
--- a/boards/bitcraze/crazyflie21/init/rc.board_defaults
+++ b/boards/bitcraze/crazyflie21/init/rc.board_defaults
@@ -4,16 +4,9 @@
 #------------------------------------------------------------------------------
 
 # system_power unavailable
-param set CBRK_SUPPLY_CHK 894281
+param set-default CBRK_SUPPLY_CHK 894281
 
-if param compare SYS_AUTOSTART 0
-then
-	param set SYS_AUTOSTART 4901
-	set AUTOCNF yes
-fi
+param set-default SYS_AUTOSTART 4901
 
-if [ $AUTOCNF = yes ]
-then
-	# don't probe external I2C
-	param set SENS_EXT_I2C_PRB 0
-fi
+# don't probe external I2C
+param set-default SENS_EXT_I2C_PRB 0
diff --git a/boards/cuav/nora/init/rc.board_defaults b/boards/cuav/nora/init/rc.board_defaults
index 874baaa4f67..41fd9c03eb9 100644
--- a/boards/cuav/nora/init/rc.board_defaults
+++ b/boards/cuav/nora/init/rc.board_defaults
@@ -21,27 +21,26 @@ then
 fi
 unset BL_FILE
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_V_DIV 18
-	param set BAT1_V_DIV 18
-	param set BAT2_V_DIV 18
 
-	param set BAT_A_PER_V 24
-	param set BAT1_A_PER_V 24
-	param set BAT2_A_PER_V 24
+param set-default BAT_V_DIV 18
+param set-default BAT1_V_DIV 18
+param set-default BAT2_V_DIV 18
 
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 3
-	param set SENS_MAG_MODE 0
+param set-default BAT_A_PER_V 24
+param set-default BAT1_A_PER_V 24
+param set-default BAT2_A_PER_V 24
 
-	# Enable IMU thermal control
-	param set SENS_EN_THERMAL 1
+# Multi-EKF
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
+param set-default EKF2_MULTI_MAG 3
+param set-default SENS_MAG_MODE 0
+
+# Enable IMU thermal control
+param set-default SENS_EN_THERMAL 1
+
+param set-default UAVCAN_ENABLE 2
 
-	param set UAVCAN_ENABLE 2
-fi
 
 set LOGGER_BUF 64
 
diff --git a/boards/cuav/x7pro/init/rc.board_defaults b/boards/cuav/x7pro/init/rc.board_defaults
index 263c45531f2..855fb150f44 100644
--- a/boards/cuav/x7pro/init/rc.board_defaults
+++ b/boards/cuav/x7pro/init/rc.board_defaults
@@ -21,27 +21,26 @@ then
 fi
 unset BL_FILE
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_V_DIV 18
-	param set BAT1_V_DIV 18
-	param set BAT2_V_DIV 18
 
-	param set BAT_A_PER_V 24
-	param set BAT1_A_PER_V 24
-	param set BAT2_A_PER_V 24
+param set-default BAT_V_DIV 18
+param set-default BAT1_V_DIV 18
+param set-default BAT2_V_DIV 18
 
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 3
-	param set SENS_MAG_MODE 0
+param set-default BAT_A_PER_V 24
+param set-default BAT1_A_PER_V 24
+param set-default BAT2_A_PER_V 24
 
-	# Enable IMU thermal control
-	param set SENS_EN_THERMAL 1
+# Multi-EKF
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
+param set-default EKF2_MULTI_MAG 3
+param set-default SENS_MAG_MODE 0
+
+# Enable IMU thermal control
+param set-default SENS_EN_THERMAL 1
+
+param set-default UAVCAN_ENABLE 2
 
-	param set UAVCAN_ENABLE 2
-fi
 
 set LOGGER_BUF 64
 
diff --git a/boards/cubepilot/cubeorange/init/rc.board_defaults b/boards/cubepilot/cubeorange/init/rc.board_defaults
index 39012e27948..f697cafd89a 100644
--- a/boards/cubepilot/cubeorange/init/rc.board_defaults
+++ b/boards/cubepilot/cubeorange/init/rc.board_defaults
@@ -21,27 +21,26 @@ then
 fi
 unset BL_FILE
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_V_DIV 10.1
-	param set BAT1_V_DIV 10.1
-	param set BAT2_V_DIV 10.1
 
-	param set BAT_A_PER_V 17
-	param set BAT1_A_PER_V 17
-	param set BAT2_A_PER_V 17
+param set-default BAT_V_DIV 10.1
+param set-default BAT1_V_DIV 10.1
+param set-default BAT2_V_DIV 10.1
 
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 3
-	param set SENS_MAG_MODE 0
+param set-default BAT_A_PER_V 17
+param set-default BAT1_A_PER_V 17
+param set-default BAT2_A_PER_V 17
 
-	# Disable IMU thermal control
-	param set SENS_EN_THERMAL 0
+# Multi-EKF
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
+param set-default EKF2_MULTI_MAG 3
+param set-default SENS_MAG_MODE 0
+
+# Disable IMU thermal control
+param set-default SENS_EN_THERMAL 0
+
+param set-default UAVCAN_ENABLE 2
 
-	param set UAVCAN_ENABLE 2
-fi
 
 set LOGGER_BUF 64
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
diff --git a/boards/cubepilot/cubeyellow/init/rc.board_defaults b/boards/cubepilot/cubeyellow/init/rc.board_defaults
index 4ced42e12a3..e5cf5356995 100644
--- a/boards/cubepilot/cubeyellow/init/rc.board_defaults
+++ b/boards/cubepilot/cubeyellow/init/rc.board_defaults
@@ -4,25 +4,23 @@
 #------------------------------------------------------------------------------
 
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_V_DIV 10.1
-	param set BAT1_V_DIV 10.1
-	param set BAT2_V_DIV 10.1
+param set-default BAT_V_DIV 10.1
+param set-default BAT1_V_DIV 10.1
+param set-default BAT2_V_DIV 10.1
 
-	param set BAT_A_PER_V 17
-	param set BAT1_A_PER_V 17
-	param set BAT2_A_PER_V 17
+param set-default BAT_A_PER_V 17
+param set-default BAT1_A_PER_V 17
+param set-default BAT2_A_PER_V 17
 
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
+# Multi-EKF
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
 
-	# Disable IMU thermal control
-	param set SENS_EN_THERMAL 0
+# Disable IMU thermal control
+param set-default SENS_EN_THERMAL 0
+
+param set-default UAVCAN_ENABLE 2
 
-	param set UAVCAN_ENABLE 2
-fi
 
 set LOGGER_BUF 64
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
diff --git a/boards/holybro/durandal-v1/init/rc.board_defaults b/boards/holybro/durandal-v1/init/rc.board_defaults
index cbd3a50b4d1..7dddf07bf4f 100644
--- a/boards/holybro/durandal-v1/init/rc.board_defaults
+++ b/boards/holybro/durandal-v1/init/rc.board_defaults
@@ -22,18 +22,17 @@ then
 fi
 unset BL_FILE
 
-if [ $AUTOCNF = yes ]
-then
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 3
-	param set SENS_MAG_MODE 0
 
-	# Enable IMU thermal control
-	param set SENS_EN_THERMAL 1
+# Multi-EKF
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
+param set-default EKF2_MULTI_MAG 3
+param set-default SENS_MAG_MODE 0
+
+# Enable IMU thermal control
+param set-default SENS_EN_THERMAL 1
+
+param set-default UAVCAN_ENABLE 2
 
-	param set UAVCAN_ENABLE 2
-fi
 
 set LOGGER_BUF 64
diff --git a/boards/holybro/kakutef7/init/rc.board_defaults b/boards/holybro/kakutef7/init/rc.board_defaults
index 6463b408c71..3fc24b2e0ab 100644
--- a/boards/holybro/kakutef7/init/rc.board_defaults
+++ b/boards/holybro/kakutef7/init/rc.board_defaults
@@ -4,27 +4,21 @@
 #------------------------------------------------------------------------------
 
 # system_power unavailable
-param set CBRK_SUPPLY_CHK 894281
+param set-default CBRK_SUPPLY_CHK 894281
 
-if param compare SYS_AUTOSTART 0
-then
-	# Select the Generic 250 Racer by default
-	param set SYS_AUTOSTART 4050
-	set AUTOCNF yes
-fi
+# Select the Generic 250 Racer by default
+param set-default SYS_AUTOSTART 4050
 
-if [ $AUTOCNF = yes ]
-then
-	# use the Q attitude estimator, it works w/o mag or GPS.
-	param set SYS_MC_EST_GROUP 3
-	param set ATT_ACC_COMP 0
-	param set ATT_W_ACC 0.4000
-	param set ATT_W_GYRO_BIAS 0.0000
+# use the Q attitude estimator, it works w/o mag or GPS.
+param set-default SYS_MC_EST_GROUP 3
+param set-default ATT_ACC_COMP 0
+param set-default ATT_W_ACC 0.4000
+param set-default ATT_W_GYRO_BIAS 0.0000
 
-	param set SYS_HAS_MAG 0
+param set-default SYS_HAS_MAG 0
+
+# the startup tune is not great on a binary output buzzer, so disable it
+param set-default CBRK_BUZZER 782090
 
-	# the startup tune is not great on a binary output buzzer, so disable it
-	param set CBRK_BUZZER 782090
-fi
 
 set LOGGER_BUF 30
diff --git a/boards/holybro/pix32v5/init/rc.board_defaults b/boards/holybro/pix32v5/init/rc.board_defaults
index c6a14b7b376..47fd0057bae 100644
--- a/boards/holybro/pix32v5/init/rc.board_defaults
+++ b/boards/holybro/pix32v5/init/rc.board_defaults
@@ -3,17 +3,14 @@
 # PX4 FMUv5 specific board defaults
 #------------------------------------------------------------------------------
 
+# Multi-EKF
+param set-default EKF2_MULTI_IMU 2
+param set-default SENS_IMU_MODE 0
+param set-default EKF2_MULTI_MAG 2
+param set-default SENS_MAG_MODE 0
 
-if [ $AUTOCNF = yes ]
-then
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 2
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 2
-	param set SENS_MAG_MODE 0
+param set-default UAVCAN_ENABLE 2
 
-	param set UAVCAN_ENABLE 2
-fi
 
 set LOGGER_BUF 64
 
diff --git a/boards/intel/aerofc-v1/init/rc.board_defaults b/boards/intel/aerofc-v1/init/rc.board_defaults
index 4c5302ef2e1..ba3caec54f6 100644
--- a/boards/intel/aerofc-v1/init/rc.board_defaults
+++ b/boards/intel/aerofc-v1/init/rc.board_defaults
@@ -4,16 +4,9 @@
 #------------------------------------------------------------------------------
 
 # system_power unavailable
-param set CBRK_SUPPLY_CHK 894281
+param set-default CBRK_SUPPLY_CHK 894281
 
-if param compare SYS_AUTOSTART 0
-then
-	set AUTOCNF yes
-fi
-
-# We don't allow changing AUTOSTART as it doesn't work in
-# other configurations.
-param set SYS_AUTOSTART 4070
+param set-default SYS_AUTOSTART 4070
 
 set DATAMAN_OPT -i
 set LOGGER_ARGS "-m mavlink"
diff --git a/boards/modalai/fc-v1/init/rc.board_defaults b/boards/modalai/fc-v1/init/rc.board_defaults
index 575c03ec008..22338fde80c 100644
--- a/boards/modalai/fc-v1/init/rc.board_defaults
+++ b/boards/modalai/fc-v1/init/rc.board_defaults
@@ -18,21 +18,17 @@
 #
 # Common settings across Flight Core configurations
 #
-if [ $AUTOCNF = yes ]
-then
-	#
-	# Disable safety switch by default (pull high to 3.3V to enable)
-	#  V106 - J13 pin 5
-	#  V110 - J1011 pin 5
-	#
-	param set CBRK_IO_SAFETY 22027
 
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
+# Disable safety switch by default (pull high to 3.3V to enable)
+#  V106 - J13 pin 5
+#  V110 - J1011 pin 5
+param set-default CBRK_IO_SAFETY 22027
 
-	param set UAVCAN_ENABLE 2
-fi
+# Multi-EKF
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
+
+param set-default UAVCAN_ENABLE 2
 
 #
 # Stand Alone configuration
@@ -52,9 +48,9 @@ then
 		if param compare MAV_1_CONFIG 0
 		then
 			echo "V106 - Defualt configuration TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
-			param set MAV_1_CONFIG 102 # TELEM2
-			param set MAV_1_MODE 2	# Onboard
-			param set SER_TEL2_BAUD 921600 # VIO data
+			param set-default MAV_1_CONFIG 102 # TELEM2
+			param set-default MAV_1_MODE 2	# Onboard
+			param set-default SER_TEL2_BAUD 921600 # VIO data
 		fi
 	fi
 
@@ -62,9 +58,9 @@ then
 	if [ $AUTOCNF = yes ]
 	then
 		echo "V106 - Auto Configuring TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
-		param set MAV_1_CONFIG 102 # TELEM2
-		param set MAV_1_MODE 2	# Onboard
-		param set SER_TEL2_BAUD 921600 # VIO data
+		param set-default MAV_1_CONFIG 102 # TELEM2
+		param set-default MAV_1_MODE 2	# Onboard
+		param set-default SER_TEL2_BAUD 921600 # VIO data
 	fi
 fi
 
@@ -86,9 +82,9 @@ then
 		if ! param compare MAV_1_CONFIG 102
 		then
 			echo "V110 - Defualt configuration TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
-			param set MAV_1_CONFIG 102 # TELEM2
-			param set MAV_1_MODE 2	# Onboard
-			param set SER_TEL2_BAUD 921600
+			param set-default MAV_1_CONFIG 102 # TELEM2
+			param set-default MAV_1_MODE 2	# Onboard
+			param set-default SER_TEL2_BAUD 921600
 		fi
 	fi
 
@@ -96,9 +92,9 @@ then
 	if [ $AUTOCNF = yes ]
 	then
 		echo "V110 - Auto Configuring TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
-		param set MAV_1_CONFIG 102 # TELEM2
-		param set MAV_1_MODE 2	# Onboard
-		param set SER_TEL2_BAUD 921600
+		param set-default MAV_1_CONFIG 102 # TELEM2
+		param set-default MAV_1_MODE 2	# Onboard
+		param set-default SER_TEL2_BAUD 921600
 	fi
 fi
 
diff --git a/boards/mro/ctrl-zero-f7/init/rc.board_defaults b/boards/mro/ctrl-zero-f7/init/rc.board_defaults
index 73371f9d929..1bf534d9765 100644
--- a/boards/mro/ctrl-zero-f7/init/rc.board_defaults
+++ b/boards/mro/ctrl-zero-f7/init/rc.board_defaults
@@ -3,15 +3,12 @@
 # mRo Control Zero specific board defaults
 #------------------------------------------------------------------------------
 
+# Multi-EKF
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
 
-if [ $AUTOCNF = yes ]
-then
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
+param set-default UAVCAN_ENABLE 2
 
-	param set UAVCAN_ENABLE 2
-fi
 
 set LOGGER_BUF 64
 set MIXER_AUX none
diff --git a/boards/mro/pixracerpro/init/rc.board_defaults b/boards/mro/pixracerpro/init/rc.board_defaults
index 43fdb46c71d..71f4c01d76f 100644
--- a/boards/mro/pixracerpro/init/rc.board_defaults
+++ b/boards/mro/pixracerpro/init/rc.board_defaults
@@ -21,23 +21,21 @@ then
 fi
 unset BL_FILE
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_V_DIV 10.1
-	param set BAT1_V_DIV 10.1
 
-	param set BAT_A_PER_V 17
-	param set BAT1_A_PER_V 17
+param set-default BAT_V_DIV 10.1
+param set-default BAT1_V_DIV 10.1
 
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 3
-	param set SENS_MAG_MODE 0
+param set-default BAT_A_PER_V 17
+param set-default BAT1_A_PER_V 17
 
-	param set UAVCAN_ENABLE 2
+# Multi-EKF
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
+param set-default EKF2_MULTI_MAG 3
+param set-default SENS_MAG_MODE 0
+
+param set-default UAVCAN_ENABLE 2
 
-fi
 
 set LOGGER_BUF 64
 set MIXER_AUX none
diff --git a/boards/mro/x21-777/init/rc.board_defaults b/boards/mro/x21-777/init/rc.board_defaults
index 940c54f4e2d..f13e765146b 100644
--- a/boards/mro/x21-777/init/rc.board_defaults
+++ b/boards/mro/x21-777/init/rc.board_defaults
@@ -4,15 +4,13 @@
 #------------------------------------------------------------------------------
 
 
-if [ $AUTOCNF = yes ]
-then
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 2
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 2
-	param set SENS_MAG_MODE 0
+# Multi-EKF
+param set-default EKF2_MULTI_IMU 2
+param set-default SENS_IMU_MODE 0
+param set-default EKF2_MULTI_MAG 2
+param set-default SENS_MAG_MODE 0
+
+param set-default UAVCAN_ENABLE 2
 
-	param set UAVCAN_ENABLE 2
-fi
 
 set LOGGER_BUF 64
diff --git a/boards/mro/x21/init/rc.board_defaults b/boards/mro/x21/init/rc.board_defaults
index d2d3276bcdb..7643610b24c 100644
--- a/boards/mro/x21/init/rc.board_defaults
+++ b/boards/mro/x21/init/rc.board_defaults
@@ -4,12 +4,4 @@
 #------------------------------------------------------------------------------
 
 # to minimize cpu usage on older boards limit inner loop to 400 Hz by default
-if param compare IMU_GYRO_RATEMAX 0
-then
-	param set IMU_GYRO_RATEMAX 400
-fi
-
-if [ $AUTOCNF = yes ]
-then
-
-fi
+param set-default IMU_GYRO_RATEMAX 400
diff --git a/boards/omnibus/f4sd/init/rc.board_defaults b/boards/omnibus/f4sd/init/rc.board_defaults
index c1776269785..ca88eae463c 100644
--- a/boards/omnibus/f4sd/init/rc.board_defaults
+++ b/boards/omnibus/f4sd/init/rc.board_defaults
@@ -4,7 +4,7 @@
 #------------------------------------------------------------------------------
 
 # system_power unavailable
-param set CBRK_SUPPLY_CHK 894281
+param set-default CBRK_SUPPLY_CHK 894281
 
 # transition from LPE+Q to Q estimator (2019-06-05)
 if param compare SYS_MC_EST_GROUP 1
@@ -13,17 +13,13 @@ then
 fi
 
 
-if [ $AUTOCNF = yes ]
-then
-	# Disable safety switch by default
-	param set CBRK_IO_SAFETY 22027
+# Disable safety switch by default
+param set-default CBRK_IO_SAFETY 22027
 
-	# use the Q attitude estimator, it works w/o mag or GPS.
-	param set SYS_MC_EST_GROUP 3
-	param set ATT_ACC_COMP 0
-	param set ATT_W_ACC 0.4000
-	param set ATT_W_GYRO_BIAS 0.0000
-
-	param set SYS_HAS_MAG 0
-fi
+# use the Q attitude estimator, it works w/o mag or GPS.
+param set-default SYS_MC_EST_GROUP 3
+param set-default ATT_ACC_COMP 0
+param set-default ATT_W_ACC 0.4000
+param set-default ATT_W_GYRO_BIAS 0.0000
 
+param set-default SYS_HAS_MAG 0
diff --git a/boards/px4/fmu-v2/init/rc.board_defaults b/boards/px4/fmu-v2/init/rc.board_defaults
index ea5530a5cdf..ab4deb04cf5 100644
--- a/boards/px4/fmu-v2/init/rc.board_defaults
+++ b/boards/px4/fmu-v2/init/rc.board_defaults
@@ -23,12 +23,4 @@ fi
 unset BL_FILE
 
 # to minimize cpu usage on older boards limit inner loop to 400 Hz by default
-if param compare IMU_GYRO_RATEMAX 0
-then
-	param set IMU_GYRO_RATEMAX 400
-fi
-
-if [ $AUTOCNF = yes ]
-then
-
-fi
+param set-default IMU_GYRO_RATEMAX 400
diff --git a/boards/px4/fmu-v2/init/rc.board_sensors b/boards/px4/fmu-v2/init/rc.board_sensors
index 022d9965396..8aecc96c346 100644
--- a/boards/px4/fmu-v2/init/rc.board_sensors
+++ b/boards/px4/fmu-v2/init/rc.board_sensors
@@ -63,7 +63,7 @@ fi
 if [ $BOARD_FMUV3 != 0 ]
 then
 	# sensor heating is available, but we disable it for now
-	param set SENS_EN_THERMAL 0
+	param set-default SENS_EN_THERMAL 0
 
 	# l3gd20 (external/isolated SPI4)
 	l3gd20 -s -b 4 -R 4 start
diff --git a/boards/px4/fmu-v3/init/rc.board_defaults b/boards/px4/fmu-v3/init/rc.board_defaults
index afea2e2bb79..d683544d534 100644
--- a/boards/px4/fmu-v3/init/rc.board_defaults
+++ b/boards/px4/fmu-v3/init/rc.board_defaults
@@ -23,12 +23,4 @@ fi
 unset BL_FILE
 
 # to minimize cpu usage on older boards limit inner loop to 400 Hz by default
-if param compare IMU_GYRO_RATEMAX 0
-then
-	param set IMU_GYRO_RATEMAX 400
-fi
-
-if [ $AUTOCNF = yes ]
-then
-
-fi
+param set-default IMU_GYRO_RATEMAX 400
diff --git a/boards/px4/fmu-v3/init/rc.board_sensors b/boards/px4/fmu-v3/init/rc.board_sensors
index dc9fe7e5c38..33e5698d763 100644
--- a/boards/px4/fmu-v3/init/rc.board_sensors
+++ b/boards/px4/fmu-v3/init/rc.board_sensors
@@ -63,7 +63,7 @@ fi
 if [ $BOARD_FMUV3 != 0 ]
 then
 	# sensor heating is available, but we disable it for now
-	param set SENS_EN_THERMAL 0
+	param set-default SENS_EN_THERMAL 0
 
 	# l3gd20 (external/isolated SPI4)
 	l3gd20 -s -b 4 -R 4 start
diff --git a/boards/px4/fmu-v4/init/rc.board_defaults b/boards/px4/fmu-v4/init/rc.board_defaults
index bfcaef4b253..b11850f4f9a 100644
--- a/boards/px4/fmu-v4/init/rc.board_defaults
+++ b/boards/px4/fmu-v4/init/rc.board_defaults
@@ -7,14 +7,14 @@
 if [ $AUTOCNF = yes ]
 then
 	# Disable safety switch by default
-	param set CBRK_IO_SAFETY 22027
+	param set-default CBRK_IO_SAFETY 22027
 
 	# start MAVLink on Wifi (ESP8266 port). Except for the TealOne airframe.
 	if ! param compare SYS_AUTOSTART 4250
 	then
-		param set MAV_2_CONFIG 301
-		param set MAV_2_RATE 20000
-		param set SER_WIFI_BAUD 921600
+		param set-default MAV_2_CONFIG 301
+		param set-default MAV_2_RATE 20000
+		param set-default SER_WIFI_BAUD 921600
 	fi
 fi
 
@@ -24,9 +24,9 @@ then
 	# configure it for MAVLink via the ESP8266 Wifi module. Except for the TealOne airframe.
 	if ! param compare SYS_AUTOSTART 4250
 	then
-		param set MAV_2_CONFIG 301
-		param set MAV_2_RATE 20000
-		param set SER_WIFI_BAUD 921600
+		param set-default MAV_2_CONFIG 301
+		param set-default MAV_2_RATE 20000
+		param set-default SER_WIFI_BAUD 921600
 	fi
 fi
 
diff --git a/boards/px4/fmu-v4pro/init/rc.board_defaults b/boards/px4/fmu-v4pro/init/rc.board_defaults
index 59cc1971f2b..2771f373269 100644
--- a/boards/px4/fmu-v4pro/init/rc.board_defaults
+++ b/boards/px4/fmu-v4pro/init/rc.board_defaults
@@ -3,14 +3,11 @@
 # PX4 FMUv4pro specific board defaults
 #------------------------------------------------------------------------------
 
+# Multi-EKF
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
 
-if [ $AUTOCNF = yes ]
-then
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
+param set-default UAVCAN_ENABLE 2
 
-	param set UAVCAN_ENABLE 2
-fi
 
 set LOGGER_BUF 64
diff --git a/boards/px4/fmu-v5/init/rc.board_defaults b/boards/px4/fmu-v5/init/rc.board_defaults
index dee1e8dd028..5d24859549b 100644
--- a/boards/px4/fmu-v5/init/rc.board_defaults
+++ b/boards/px4/fmu-v5/init/rc.board_defaults
@@ -4,25 +4,23 @@
 #------------------------------------------------------------------------------
 
 
-if [ $AUTOCNF = yes ]
+if ver hwtypecmp V550 V560
 then
-	if ver hwtypecmp V550 V560
-	then
-		# CUAV V5+ (V550) and V5nano (V560) have 3 IMUs
-		# Multi-EKF (IMUs only)
-		param set EKF2_MULTI_IMU 3
-		param set SENS_IMU_MODE 0
-	else
-		# Multi-EKF
-		param set EKF2_MULTI_IMU 2
-		param set SENS_IMU_MODE 0
-		param set EKF2_MULTI_MAG 2
-		param set SENS_MAG_MODE 0
-	fi
-
-	param set UAVCAN_ENABLE 2
+	# CUAV V5+ (V550) and V5nano (V560) have 3 IMUs
+	# Multi-EKF (IMUs only)
+	param set-default EKF2_MULTI_IMU 3
+	param set-default SENS_IMU_MODE 0
+else
+	# Multi-EKF
+	param set-default EKF2_MULTI_IMU 2
+	param set-default SENS_IMU_MODE 0
+	param set-default EKF2_MULTI_MAG 2
+	param set-default SENS_MAG_MODE 0
 fi
 
+param set-default UAVCAN_ENABLE 2
+
+
 set LOGGER_BUF 64
 
 rgbled_pwm start
diff --git a/boards/px4/fmu-v5x/init/rc.board_defaults b/boards/px4/fmu-v5x/init/rc.board_defaults
index fdf47588866..88e273b0394 100644
--- a/boards/px4/fmu-v5x/init/rc.board_defaults
+++ b/boards/px4/fmu-v5x/init/rc.board_defaults
@@ -3,15 +3,12 @@
 # PX4 FMUv5X specific board defaults
 #------------------------------------------------------------------------------
 
+# Multi-EKF
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
 
-if [ $AUTOCNF = yes ]
-then
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
+param set-default UAVCAN_ENABLE 2
 
-	param set UAVCAN_ENABLE 2
-fi
 
 set LOGGER_BUF 64
 
diff --git a/boards/px4/fmu-v6u/init/rc.board_defaults b/boards/px4/fmu-v6u/init/rc.board_defaults
index 31053d95724..055a18f9b1b 100644
--- a/boards/px4/fmu-v6u/init/rc.board_defaults
+++ b/boards/px4/fmu-v6u/init/rc.board_defaults
@@ -3,17 +3,14 @@
 # PX4 FMUv6U specific board defaults
 #------------------------------------------------------------------------------
 
+# Multi-EKF
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
+param set-default EKF2_MULTI_MAG 3
+param set-default SENS_MAG_MODE 0
 
-if [ $AUTOCNF = yes ]
-then
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 3
-	param set SENS_MAG_MODE 0
+param set-default UAVCAN_ENABLE 2
 
-	param set UAVCAN_ENABLE 2
-fi
 
 set LOGGER_BUF 64
 
diff --git a/boards/px4/fmu-v6x/init/rc.board_defaults b/boards/px4/fmu-v6x/init/rc.board_defaults
index 98356226350..f5e857c2f30 100644
--- a/boards/px4/fmu-v6x/init/rc.board_defaults
+++ b/boards/px4/fmu-v6x/init/rc.board_defaults
@@ -3,17 +3,14 @@
 # PX4 FMUv6X specific board defaults
 #------------------------------------------------------------------------------
 
+# Multi-EKF
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
+param set-default EKF2_MULTI_MAG 3
+param set-default SENS_MAG_MODE 0
 
-if [ $AUTOCNF = yes ]
-then
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 3
-	param set SENS_MAG_MODE 0
+param set-default UAVCAN_ENABLE 2
 
-	param set UAVCAN_ENABLE 2
-fi
 
 set LOGGER_BUF 64
 
diff --git a/boards/spracing/h7extreme/init/rc.board_defaults b/boards/spracing/h7extreme/init/rc.board_defaults
index 7d78b879586..b3a7308d441 100644
--- a/boards/spracing/h7extreme/init/rc.board_defaults
+++ b/boards/spracing/h7extreme/init/rc.board_defaults
@@ -2,31 +2,25 @@
 #
 # SP Racing H7 EXTREME specific board defaults
 #------------------------------------------------------------------------------
-# system_power unavailable
-param set CBRK_SUPPLY_CHK 894281
 
-if param compare SYS_AUTOSTART 0
-then
-	# Select the Generic 250 Racer by default
-	param set SYS_AUTOSTART 4050
-	set AUTOCNF yes
-fi
+# system_power unavailable
+param set-default CBRK_SUPPLY_CHK 894281
+
+# Select the Generic 250 Racer by default
+param set-default SYS_AUTOSTART 4050
+
+# Disable safety switch by default
+param set-default CBRK_IO_SAFETY 22027
+
+# use the Q attitude estimator, it works w/o mag or GPS.
+param set-default SYS_MC_EST_GROUP 3
+param set-default ATT_ACC_COMP 0
+param set-default ATT_W_ACC 0.4000
+param set-default ATT_W_GYRO_BIAS 0.0000
+
+param set-default SYS_HAS_MAG 0
+
+param set-default DSHOT_CONFIG 600
+
 
 set LOGGER_BUF 64
-
-if [ $AUTOCNF = yes ]
-then
-	# Disable safety switch by default
-	param set CBRK_IO_SAFETY 22027
-
-	# use the Q attitude estimator, it works w/o mag or GPS.
-	param set SYS_MC_EST_GROUP 3
-	param set ATT_ACC_COMP 0
-	param set ATT_W_ACC 0.4000
-	param set ATT_W_GYRO_BIAS 0.0000
-
-	param set SYS_HAS_MAG 0
-	
-	param set DSHOT_CONFIG 600
-fi
-
diff --git a/boards/uvify/core/init/rc.board_defaults b/boards/uvify/core/init/rc.board_defaults
index fb4eddba944..61ca5a1272f 100644
--- a/boards/uvify/core/init/rc.board_defaults
+++ b/boards/uvify/core/init/rc.board_defaults
@@ -3,12 +3,8 @@
 # UVify Core specific board defaults
 #------------------------------------------------------------------------------
 
+# Disable safety switch by default
+param set-default CBRK_IO_SAFETY 22027
 
-if [ $AUTOCNF = yes ]
-then
-	# Disable safety switch by default
-	param set CBRK_IO_SAFETY 22027
-
-	# don't probe external I2C
-	param set SENS_EXT_I2C_PRB 0
-fi
+# don't probe external I2C
+param set-default SENS_EXT_I2C_PRB 0