diff --git a/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt.post b/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt.post
index 1d96d61fe96..80264373dc4 100644
--- a/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt.post
+++ b/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt.post
@@ -1 +1,10 @@
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
+
+mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
+
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
+
+# shellcheck disable=SC2154
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
+# shellcheck disable=SC2154
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
index 5454acc8fe8..148da306948 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
@@ -96,7 +96,7 @@ px4_add_romfs_files(
 	# [6000, 6999] Hexarotor x"
 	6001_hexa_x
 	6002_draco_r
-        6100_tilt_hex
+        6100_hexa_tilt_x
 
 	# [7000, 7999] Hexarotor +"
 	7001_hexa_+