diff --git a/ROMFS/scripts/rc.PX4IO b/ROMFS/scripts/rc.PX4IO
index b5a0874335..3a5ccbc5c6 100644
--- a/ROMFS/scripts/rc.PX4IO
+++ b/ROMFS/scripts/rc.PX4IO
@@ -1,12 +1,9 @@
 #!nsh
-#
-# Flight startup script for PX4FMU with PX4IO carrier board.
-#
 
-echo "[init] doing PX4IO startup..."
+set USB no
 
 #
-# Start the ORB
+# Start the object request broker
 #
 uorb start
 
@@ -20,15 +17,21 @@ then
 	param load
 fi
 
+#
+# Enable / connect to PX4IO
+#
+px4io start
+
 #
 # Start the sensors.
 #
 sh /etc/init.d/rc.sensors
 
 #
-# Start MAVLink
+# Start MAVLink on UART1 (dev/ttyS0) at 57600 baud (CLI is now unusable)
 #
 mavlink start -d /dev/ttyS0 -b 57600
+usleep 5000
 
 #
 # Start the commander.
@@ -41,35 +44,19 @@ commander start
 attitude_estimator_ekf start
 
 #
-# Configure PX4FMU for operation with PX4IO
+# Start the attitude and position controller
 #
-# XXX arguments?
-#
-px4fmu start
+fixedwing_att_control start
+fixedwing_pos_control start
 
 #
-# Start the fixed-wing controller
+# Start GPS capture
 #
-fixedwing_control start
-
-#
-# Fire up the PX4IO interface.
-#
-px4io start
-
-#
-# Start looking for a GPS.
-#
-gps start
-
-#
-# Start logging to microSD if we can
-#
-sh /etc/init.d/rc.logging
+#gps start
 
 #
 # startup is done; we don't want the shell because we
-# use the same UART for telemetry (dumb).
+# use the same UART for telemetry
 #
-echo "[init] startup done, exiting."
+echo "[init] startup done"
 exit