diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
index 6ce3449e69..6968455cd6 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
@@ -43,5 +43,34 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+#param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 5
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_Y 1.0000
+param set-default CA_SV_CS0_TYPE 2
+param set-default CA_SV_CS1_TYPE 7
+param set-default CA_SV_CS2_TRQ_P -1.0000
+param set-default CA_SV_CS2_TRQ_R 1.0000
+param set-default CA_SV_CS2_TYPE 9
+param set-default CA_SV_CS3_TRQ_P 1.0000
+param set-default CA_SV_CS3_TRQ_R 1.0000
+param set-default CA_SV_CS3_TYPE 10
+param set-default CA_SV_CS4_TRQ_P 1.0000
+param set-default CA_SV_CS5_TYPE 8
+
+param set-default PWM_MAIN_FUNC3 201
+param set-default PWM_MAIN_FUNC4 202
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 203
+param set-default PWM_MAIN_FUNC7 204
+param set-default PWM_MAIN_FUNC8 205
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 288
+
+
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
index 6b22e67338..c0436573a4 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
@@ -7,6 +7,40 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+#param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R 1.0000
+param set-default CA_SV_CS0_TYPE 9
+param set-default CA_SV_CS1_TRQ_R 1.0000
+param set-default CA_SV_CS1_TYPE 10
+param set-default CA_SV_CS2_TRQ_P 1.0000
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_REV 32
+
+
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
index 02d3346f93..973d42aba3 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
@@ -7,6 +7,52 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+#param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 2
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_ROTOR0_TILT 1
+param set-default CA_ROTOR1_TILT 2
+param set-default CA_ROTOR2_TILT 3
+param set-default CA_ROTOR3_TILT 4
+param set-default CA_SV_CS0_TRQ_R 1.0000
+param set-default CA_SV_CS0_TYPE 9
+param set-default CA_SV_CS1_TRQ_R 1.0000
+param set-default CA_SV_CS1_TYPE 10
+param set-default CA_SV_CS2_TRQ_P 1.0000
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_TL0_CT 0
+param set-default CA_SV_TL1_CT 0
+param set-default CA_SV_TL2_CT 0
+param set-default CA_SV_TL3_CT 0
+param set-default CA_SV_TL_COUNT 4
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 204
+param set-default PWM_MAIN_FUNC6 205
+param set-default PWM_MAIN_FUNC7 206
+param set-default PWM_MAIN_FUNC8 207
+param set-default PWM_MAIN_FUNC9 201
+param set-default PWM_MAIN_FUNC10 202
+param set-default PWM_MAIN_FUNC11 203
+param set-default PWM_MAIN_REV 256
+
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2