diff --git a/src/systemcmds/param/param.cpp b/src/systemcmds/param/param.cpp
index f3d9b8f874..e2b0adea22 100644
--- a/src/systemcmds/param/param.cpp
+++ b/src/systemcmds/param/param.cpp
@@ -85,10 +85,12 @@ static int	do_save_default();
 static int 	do_load(const char *param_file_name);
 static int	do_import(const char *param_file_name);
 static int	do_show(const char *search_string, bool only_changed);
+static int	do_show_for_airframe();
 static int	do_show_all();
 static int	do_show_quiet(const char *param_name);
 static int	do_show_index(const char *index, bool used_index);
 static void	do_show_print(void *arg, param_t param);
+static void	do_show_print_for_airframe(void *arg, param_t param);
 static int	do_set(const char *name, const char *val, bool fail_on_not_found);
 static int	do_compare(const char *name, char *vals[], unsigned comparisons, enum COMPARE_OPERATOR cmd_op,
 			   enum COMPARE_ERROR_LEVEL err_level);
@@ -141,6 +143,8 @@ $ reboot
 	PRINT_MODULE_USAGE_PARAM_FLAG('q', "quiet mode, print only param value (name needs to be exact)", true);
 	PRINT_MODULE_USAGE_ARG("<filter>", "Filter by param name (wildcard at end allowed, eg. sys_*)", true);
 
+	PRINT_MODULE_USAGE_COMMAND_DESCR("show-for-airframe", "Show changed params for airframe config");
+
 	PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print status of parameter system");
 
 	PRINT_MODULE_USAGE_COMMAND_DESCR("set", "Set parameter to a value");
@@ -255,6 +259,10 @@ param_main(int argc, char *argv[])
 			}
 		}
 
+		if (!strcmp(argv[1], "show-for-airframe")) {
+			return do_show_for_airframe();
+		}
+
 		if (!strcmp(argv[1], "status")) {
 			param_print_status();
 			return PX4_OK;
@@ -464,6 +472,16 @@ do_show(const char *search_string, bool only_changed)
 	return 0;
 }
 
+static int
+do_show_for_airframe()
+{
+	PARAM_PRINT("if [ $AUTOCNF = yes ]\n");
+	PARAM_PRINT("then\n");
+	param_foreach(do_show_print_for_airframe, nullptr, true, true);
+	PARAM_PRINT("fi\n");
+	return 0;
+}
+
 static int
 do_show_all()
 {
@@ -578,7 +596,7 @@ do_show_print(void *arg, param_t param)
 	const char *p_name = (const char *)param_name(param);
 
 	/* print nothing if search string is invalid and not matching */
-	if (!(arg == nullptr)) {
+	if (arg != nullptr) {
 
 		/* start search */
 		const char *ss = search_string;
@@ -646,6 +664,49 @@ do_show_print(void *arg, param_t param)
 	PARAM_PRINT("<error fetching parameter %lu>\n", (unsigned long)param);
 }
 
+static void
+do_show_print_for_airframe(void *arg, param_t param)
+{
+	// exceptions
+	const char* p_name = param_name(param);
+	if (!p_name || param_is_volatile(param)) {
+		return;
+	}
+	if (!strcmp(p_name, "SYS_AUTOSTART") || !strcmp(p_name, "SYS_AUTOCONFIG")) {
+		return;
+	}
+	if (!strncmp(p_name, "RC", 2) || !strncmp(p_name, "TC_", 3) || !strncmp(p_name, "CAL_", 4) ||
+			!strncmp(p_name, "SENS_BOARD_", 11) || !strcmp(p_name, "SENS_DPRES_OFF") ||
+			 !strcmp(p_name, "MAV_TYPE")) {
+		return;
+	}
+
+	int32_t i;
+	float f;
+	PARAM_PRINT("\tparam set %s ", p_name);
+
+	switch (param_type(param)) {
+	case PARAM_TYPE_INT32:
+		if (!param_get(param, &i)) {
+			PARAM_PRINT("%ld\n", (long)i);
+			return;
+		}
+		break;
+
+	case PARAM_TYPE_FLOAT:
+		if (!param_get(param, &f)) {
+			PARAM_PRINT("%4.4f\n", (double)f);
+			return;
+		}
+		break;
+
+	default:
+		return;
+	}
+
+	PARAM_PRINT("<error fetching parameter %lu>\n", (unsigned long)param);
+}
+
 static int
 do_set(const char *name, const char *val, bool fail_on_not_found)
 {