From e920206e8db00a72423626840ccff9b4505a8391 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Sun, 24 Sep 2017 12:32:10 +0200
Subject: [PATCH] Autostart: Allow overriding airframe defaults

This is necessary to enable setting new airframe defaults after significant configuration changes.
---
 .../init.d/1000_rc_fw_easystar.hil            |  2 +-
 .../px4fmu_common/init.d/10015_tbs_discovery  |  2 +-
 ROMFS/px4fmu_common/init.d/10016_3dr_iris     |  2 +-
 .../init.d/10017_steadidrone_qu4d             |  2 +-
 .../px4fmu_common/init.d/10018_tbs_endurance  |  2 +-
 ROMFS/px4fmu_common/init.d/10020_3dr_quad     |  2 +-
 .../init.d/12002_steadidrone_mavrik           |  2 +-
 .../init.d/13001_caipirinha_vtol              |  2 +-
 ROMFS/px4fmu_common/init.d/13002_firefly6     |  2 +-
 .../init.d/13003_quad_tailsitter              |  2 +-
 .../init.d/13004_quad+_tailsitter             |  2 +-
 .../init.d/13005_vtol_AAERT_quad              |  2 +-
 .../init.d/13006_vtol_standard_delta          |  2 +-
 .../init.d/13007_vtol_AAVVT_quad              |  2 +-
 ROMFS/px4fmu_common/init.d/13008_QuadRanger   |  2 +-
 .../init.d/13009_vtol_spt_ranger              |  2 +-
 ROMFS/px4fmu_common/init.d/13010_claire       |  2 +-
 ROMFS/px4fmu_common/init.d/13012_convergence  |  2 +-
 ROMFS/px4fmu_common/init.d/13013_deltaquad    |  2 +-
 ROMFS/px4fmu_common/init.d/15001_coax_heli    |  2 +-
 ROMFS/px4fmu_common/init.d/16001_helicopter   |  2 +-
 ROMFS/px4fmu_common/init.d/2105_maja          |  2 +-
 ROMFS/px4fmu_common/init.d/2106_albatross     |  2 +-
 ROMFS/px4fmu_common/init.d/24001_dodeca_cox   |  2 +-
 ROMFS/px4fmu_common/init.d/3030_io_camflyer   |  2 +-
 ROMFS/px4fmu_common/init.d/3031_phantom       |  2 +-
 ROMFS/px4fmu_common/init.d/3032_skywalker_x5  |  2 +-
 ROMFS/px4fmu_common/init.d/3033_wingwing      |  2 +-
 ROMFS/px4fmu_common/init.d/3034_fx79          |  2 +-
 ROMFS/px4fmu_common/init.d/3036_pigeon        |  2 +-
 .../init.d/3037_parrot_disco_mod              |  2 +-
 .../px4fmu_common/init.d/3100_tbs_caipirinha  |  2 +-
 ROMFS/px4fmu_common/init.d/4003_qavr5         |  2 +-
 ROMFS/px4fmu_common/init.d/4009_qav250        |  2 +-
 ROMFS/px4fmu_common/init.d/4010_dji_f330      |  2 +-
 ROMFS/px4fmu_common/init.d/4011_dji_f450      |  2 +-
 ROMFS/px4fmu_common/init.d/4012_quad_x_can    |  2 +-
 ROMFS/px4fmu_common/init.d/4013_bebop         |  2 +-
 ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb  |  2 +-
 ROMFS/px4fmu_common/init.d/4030_solo          |  2 +-
 ROMFS/px4fmu_common/init.d/4040_reaper        |  2 +-
 ROMFS/px4fmu_common/init.d/4050_generic_250   |  2 +-
 ROMFS/px4fmu_common/init.d/4051_s250aq        |  2 +-
 .../px4fmu_common/init.d/4060_dji_matrice_100 |  2 +-
 ROMFS/px4fmu_common/init.d/4070_aerofc        |  2 +-
 ROMFS/px4fmu_common/init.d/4080_zmr250        |  2 +-
 ROMFS/px4fmu_common/init.d/4090_nanomind      |  2 +-
 ROMFS/px4fmu_common/init.d/4900_crazyflie     |  2 +-
 .../init.d/50002_traxxas_stampede_2wd         |  2 +-
 .../init.d/rc.axialracing_ax10_defaults       |  2 +-
 ROMFS/px4fmu_common/init.d/rc.fw_defaults     |  2 +-
 ROMFS/px4fmu_common/init.d/rc.gnd_defaults    |  2 +-
 ROMFS/px4fmu_common/init.d/rc.mc_defaults     |  2 +-
 ROMFS/px4fmu_common/init.d/rc.vtol_defaults   |  2 +-
 ROMFS/px4fmu_common/init.d/rcS                | 37 ++++++++++++++-----
 55 files changed, 81 insertions(+), 64 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
index 8cbf81b496ec..3403326bef64 100644
--- a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
+++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
@@ -17,7 +17,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set BAT_N_CELLS 3
 	param set FW_AIRSPD_MAX 20
diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
index 77647e51eb7c..cf6d1363b838 100644
--- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
@@ -22,7 +22,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set MC_ROLL_P 6.5
 	param set MC_ROLLRATE_P 0.1
diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
index f270153c7ce7..70c4d74feeec 100644
--- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
@@ -20,7 +20,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	# TODO tune roll/pitch separately
 	param set MC_ROLL_P 7.0
diff --git a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
index b6ef969ed450..f26612f8398f 100644
--- a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
+++ b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
@@ -22,7 +22,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.13
diff --git a/ROMFS/px4fmu_common/init.d/10018_tbs_endurance b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance
index 5447911dd159..ee85d73c38a6 100644
--- a/ROMFS/px4fmu_common/init.d/10018_tbs_endurance
+++ b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance
@@ -22,7 +22,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set BAT_N_CELLS 6
 	param set BAT_V_EMPTY 3.5
diff --git a/ROMFS/px4fmu_common/init.d/10020_3dr_quad b/ROMFS/px4fmu_common/init.d/10020_3dr_quad
index 0bdfb8f5abb2..428c581a82d2 100644
--- a/ROMFS/px4fmu_common/init.d/10020_3dr_quad
+++ b/ROMFS/px4fmu_common/init.d/10020_3dr_quad
@@ -10,7 +10,7 @@
 
 sh /etc/init.d/4001_quad_x
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set MC_ROLL_P 6.5
 	param set MC_ROLLRATE_P 0.14
diff --git a/ROMFS/px4fmu_common/init.d/12002_steadidrone_mavrik b/ROMFS/px4fmu_common/init.d/12002_steadidrone_mavrik
index 3db8e69db2fa..55bbcc0ed106 100644
--- a/ROMFS/px4fmu_common/init.d/12002_steadidrone_mavrik
+++ b/ROMFS/px4fmu_common/init.d/12002_steadidrone_mavrik
@@ -19,7 +19,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set MC_PITCH_P 4.0
 	param set MC_PITCHRATE_P 0.24
diff --git a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
index 9566db9134eb..47569e39f9e3 100644
--- a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
+++ b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
@@ -15,7 +15,7 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set MC_ROLL_P 6.0
 	param set MC_ROLLRATE_P 0.12
diff --git a/ROMFS/px4fmu_common/init.d/13002_firefly6 b/ROMFS/px4fmu_common/init.d/13002_firefly6
index 504b9056a3cf..cc7d68da42ae 100644
--- a/ROMFS/px4fmu_common/init.d/13002_firefly6
+++ b/ROMFS/px4fmu_common/init.d/13002_firefly6
@@ -20,7 +20,7 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.19
diff --git a/ROMFS/px4fmu_common/init.d/13003_quad_tailsitter b/ROMFS/px4fmu_common/init.d/13003_quad_tailsitter
index ae820f6224eb..7b97ada64df5 100644
--- a/ROMFS/px4fmu_common/init.d/13003_quad_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/13003_quad_tailsitter
@@ -10,7 +10,7 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
     param set VT_MOT_COUNT 4
     param set VT_IDLE_PWM_MC  1080
diff --git a/ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter b/ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter
index 75bdb8a331c7..da94d31622d6 100644
--- a/ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter
@@ -19,7 +19,7 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
     param set VT_MOT_COUNT 4
     param set VT_IDLE_PWM_MC  1080
diff --git a/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad b/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad
index 2ffd8c580fea..f066ba04b66e 100644
--- a/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad
+++ b/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad
@@ -20,7 +20,7 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
diff --git a/ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta b/ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta
index 2aee278579aa..1770dc639e53 100644
--- a/ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta
+++ b/ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta
@@ -18,7 +18,7 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
diff --git a/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad b/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad
index 4b8ad807f61e..647d15bd9ee2 100644
--- a/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad
+++ b/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad
@@ -10,7 +10,7 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
diff --git a/ROMFS/px4fmu_common/init.d/13008_QuadRanger b/ROMFS/px4fmu_common/init.d/13008_QuadRanger
index 4767e02ed232..c3454ebd6dcc 100644
--- a/ROMFS/px4fmu_common/init.d/13008_QuadRanger
+++ b/ROMFS/px4fmu_common/init.d/13008_QuadRanger
@@ -10,7 +10,7 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
diff --git a/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger b/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger
index da41a4204b1e..edcf5f5703b4 100644
--- a/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger
+++ b/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger
@@ -10,7 +10,7 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
     param set VT_TYPE 2
     param set VT_MOT_COUNT 4
diff --git a/ROMFS/px4fmu_common/init.d/13010_claire b/ROMFS/px4fmu_common/init.d/13010_claire
index 2b3f7c5483de..10a40b3e9659 100644
--- a/ROMFS/px4fmu_common/init.d/13010_claire
+++ b/ROMFS/px4fmu_common/init.d/13010_claire
@@ -10,7 +10,7 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 param set VT_TYPE 1
 param set VT_TILT_MC 0.08
diff --git a/ROMFS/px4fmu_common/init.d/13012_convergence b/ROMFS/px4fmu_common/init.d/13012_convergence
index c07ee5800fe9..511405fdd365 100644
--- a/ROMFS/px4fmu_common/init.d/13012_convergence
+++ b/ROMFS/px4fmu_common/init.d/13012_convergence
@@ -19,7 +19,7 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
     param set VT_MOT_COUNT 3
     param set VT_FW_MOT_OFFID 3
diff --git a/ROMFS/px4fmu_common/init.d/13013_deltaquad b/ROMFS/px4fmu_common/init.d/13013_deltaquad
index 895ec3402cd4..951f0eafea11 100644
--- a/ROMFS/px4fmu_common/init.d/13013_deltaquad
+++ b/ROMFS/px4fmu_common/init.d/13013_deltaquad
@@ -19,7 +19,7 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
diff --git a/ROMFS/px4fmu_common/init.d/15001_coax_heli b/ROMFS/px4fmu_common/init.d/15001_coax_heli
index 853bc4823aaa..37d724e0ffb6 100644
--- a/ROMFS/px4fmu_common/init.d/15001_coax_heli
+++ b/ROMFS/px4fmu_common/init.d/15001_coax_heli
@@ -16,7 +16,7 @@
 sh /etc/init.d/rc.mc_defaults
 set MIXER coax
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set NAV_ACC_RAD 2.0
 	param set RTL_RETURN_ALT 30.0
diff --git a/ROMFS/px4fmu_common/init.d/16001_helicopter b/ROMFS/px4fmu_common/init.d/16001_helicopter
index a91a60fb5f57..6aeb6517c634 100644
--- a/ROMFS/px4fmu_common/init.d/16001_helicopter
+++ b/ROMFS/px4fmu_common/init.d/16001_helicopter
@@ -23,7 +23,7 @@ set MIXER blade130
 
 #set PWM_OUT 1234
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set MC_ROLL_P 5.0
 	param set MC_ROLLRATE_P 0.0
diff --git a/ROMFS/px4fmu_common/init.d/2105_maja b/ROMFS/px4fmu_common/init.d/2105_maja
index 7a8fd88c4a53..0bae61788594 100644
--- a/ROMFS/px4fmu_common/init.d/2105_maja
+++ b/ROMFS/px4fmu_common/init.d/2105_maja
@@ -22,7 +22,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
     param set FW_AIRSPD_MIN 10
     param set FW_AIRSPD_TRIM 15
diff --git a/ROMFS/px4fmu_common/init.d/2106_albatross b/ROMFS/px4fmu_common/init.d/2106_albatross
index edd5f9ef058b..6f781e6de7c8 100644
--- a/ROMFS/px4fmu_common/init.d/2106_albatross
+++ b/ROMFS/px4fmu_common/init.d/2106_albatross
@@ -23,7 +23,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
     param set FW_AIRSPD_MIN 10
     param set FW_AIRSPD_TRIM 15
diff --git a/ROMFS/px4fmu_common/init.d/24001_dodeca_cox b/ROMFS/px4fmu_common/init.d/24001_dodeca_cox
index fb2ed1301be3..869a65e06f2e 100644
--- a/ROMFS/px4fmu_common/init.d/24001_dodeca_cox
+++ b/ROMFS/px4fmu_common/init.d/24001_dodeca_cox
@@ -25,7 +25,7 @@
 
 set VEHICLE_TYPE mc
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set NAV_ACC_RAD 2.0
 	param set RTL_RETURN_ALT 30.0
diff --git a/ROMFS/px4fmu_common/init.d/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/3030_io_camflyer
index 2e88892795a6..2dc8a895e486 100644
--- a/ROMFS/px4fmu_common/init.d/3030_io_camflyer
+++ b/ROMFS/px4fmu_common/init.d/3030_io_camflyer
@@ -20,7 +20,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set FW_AIRSPD_MAX 15
 	param set FW_AIRSPD_MIN 10
diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom
index 6a05205c096d..eba71279951d 100644
--- a/ROMFS/px4fmu_common/init.d/3031_phantom
+++ b/ROMFS/px4fmu_common/init.d/3031_phantom
@@ -20,7 +20,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set FW_AIRSPD_MIN 13
 	param set FW_AIRSPD_TRIM 15
diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
index 4e24659351d8..e1a8692f88a9 100644
--- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
+++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
@@ -20,7 +20,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set FW_AIRSPD_MIN 15
 	param set FW_AIRSPD_TRIM 20
diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing
index c7ce143ac4d6..6a2fe4621fe2 100644
--- a/ROMFS/px4fmu_common/init.d/3033_wingwing
+++ b/ROMFS/px4fmu_common/init.d/3033_wingwing
@@ -20,7 +20,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set BAT_N_CELLS 2
 	param set FW_AIRSPD_MAX 15
diff --git a/ROMFS/px4fmu_common/init.d/3034_fx79 b/ROMFS/px4fmu_common/init.d/3034_fx79
index a83098028ed6..e0fc74aa8185 100644
--- a/ROMFS/px4fmu_common/init.d/3034_fx79
+++ b/ROMFS/px4fmu_common/init.d/3034_fx79
@@ -10,7 +10,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set NAV_LOITER_RAD 150
 	param set FW_AIRSPD_MAX 30
diff --git a/ROMFS/px4fmu_common/init.d/3036_pigeon b/ROMFS/px4fmu_common/init.d/3036_pigeon
index ed7e88cb6c13..f9dbd95f9020 100644
--- a/ROMFS/px4fmu_common/init.d/3036_pigeon
+++ b/ROMFS/px4fmu_common/init.d/3036_pigeon
@@ -20,7 +20,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set FW_AIRSPD_MIN 15
 	param set FW_AIRSPD_TRIM 20
diff --git a/ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod b/ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod
index c383c2e589f0..2d6992a694d0 100644
--- a/ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod
+++ b/ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod
@@ -20,7 +20,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	
 	####################################
diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
index 1091803a16ab..0ae219af5871 100644
--- a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
@@ -10,7 +10,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set FW_AIRSPD_MAX 25
 	param set FW_AIRSPD_MIN 12.5
diff --git a/ROMFS/px4fmu_common/init.d/4003_qavr5 b/ROMFS/px4fmu_common/init.d/4003_qavr5
index 4e5f64133263..e5649a5b0e4e 100644
--- a/ROMFS/px4fmu_common/init.d/4003_qavr5
+++ b/ROMFS/px4fmu_common/init.d/4003_qavr5
@@ -12,7 +12,7 @@
 
 sh /etc/init.d/4001_quad_x
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set MC_ROLL_P 8.0
 	param set MC_ROLLRATE_P 0.08
diff --git a/ROMFS/px4fmu_common/init.d/4009_qav250 b/ROMFS/px4fmu_common/init.d/4009_qav250
index dc92f5eb5afa..1ba6872623ed 100644
--- a/ROMFS/px4fmu_common/init.d/4009_qav250
+++ b/ROMFS/px4fmu_common/init.d/4009_qav250
@@ -10,7 +10,7 @@
 
 sh /etc/init.d/4001_quad_x
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set MC_ROLL_P 6.0
 	param set MC_ROLLRATE_P 0.14
diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330
index 230323371a75..9ba2a7a32505 100644
--- a/ROMFS/px4fmu_common/init.d/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330
@@ -10,7 +10,7 @@
 
 sh /etc/init.d/4001_quad_x
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.15
diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450
index be3321f62573..1a0f615487a1 100644
--- a/ROMFS/px4fmu_common/init.d/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450
@@ -10,7 +10,7 @@
 
 sh /etc/init.d/4001_quad_x
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.15
diff --git a/ROMFS/px4fmu_common/init.d/4012_quad_x_can b/ROMFS/px4fmu_common/init.d/4012_quad_x_can
index 7a7b565f6a44..3acd585604d9 100644
--- a/ROMFS/px4fmu_common/init.d/4012_quad_x_can
+++ b/ROMFS/px4fmu_common/init.d/4012_quad_x_can
@@ -10,7 +10,7 @@
 
 sh /etc/init.d/4001_quad_x
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.16
diff --git a/ROMFS/px4fmu_common/init.d/4013_bebop b/ROMFS/px4fmu_common/init.d/4013_bebop
index b68bf8408545..f31614e62786 100644
--- a/ROMFS/px4fmu_common/init.d/4013_bebop
+++ b/ROMFS/px4fmu_common/init.d/4013_bebop
@@ -20,7 +20,7 @@ sh /etc/init.d/rc.mc_defaults
 #
 # Load default params for this platform
 #
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
     # Set all params here, then disable autoconfig
     param set MC_ROLL_P 6.5
diff --git a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
index f16cd70db0b1..d167893519e5 100644
--- a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
+++ b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
@@ -17,7 +17,7 @@
 
 sh /etc/init.d/4001_quad_x
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.1
diff --git a/ROMFS/px4fmu_common/init.d/4030_solo b/ROMFS/px4fmu_common/init.d/4030_solo
index ce02c41e14fe..e84b895fad38 100644
--- a/ROMFS/px4fmu_common/init.d/4030_solo
+++ b/ROMFS/px4fmu_common/init.d/4030_solo
@@ -16,7 +16,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
     # tuning
     param set MC_PITCHRATE_P    0.11
diff --git a/ROMFS/px4fmu_common/init.d/4040_reaper b/ROMFS/px4fmu_common/init.d/4040_reaper
index 57ad4fa3520b..20b469417dfb 100644
--- a/ROMFS/px4fmu_common/init.d/4040_reaper
+++ b/ROMFS/px4fmu_common/init.d/4040_reaper
@@ -10,7 +10,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
     param set MC_ROLL_P 6.5
     param set MC_ROLLRATE_P 0.14
diff --git a/ROMFS/px4fmu_common/init.d/4050_generic_250 b/ROMFS/px4fmu_common/init.d/4050_generic_250
index f636cd88279f..c8f5e5135901 100644
--- a/ROMFS/px4fmu_common/init.d/4050_generic_250
+++ b/ROMFS/px4fmu_common/init.d/4050_generic_250
@@ -10,7 +10,7 @@
 
 sh /etc/init.d/4001_quad_x
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set MC_ROLL_P 8.0
 	param set MC_ROLLRATE_P 0.19
diff --git a/ROMFS/px4fmu_common/init.d/4051_s250aq b/ROMFS/px4fmu_common/init.d/4051_s250aq
index 473c11e647d6..10bcda6f182f 100644
--- a/ROMFS/px4fmu_common/init.d/4051_s250aq
+++ b/ROMFS/px4fmu_common/init.d/4051_s250aq
@@ -26,7 +26,7 @@ set MAV_TYPE 2
 
 set PWM_OUT 1234
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set MC_ROLL_P 8.0
 	param set MC_ROLLRATE_P 0.19
diff --git a/ROMFS/px4fmu_common/init.d/4060_dji_matrice_100 b/ROMFS/px4fmu_common/init.d/4060_dji_matrice_100
index 1366f42c8725..0737f9d59fb6 100644
--- a/ROMFS/px4fmu_common/init.d/4060_dji_matrice_100
+++ b/ROMFS/px4fmu_common/init.d/4060_dji_matrice_100
@@ -10,7 +10,7 @@
 
 sh /etc/init.d/4001_quad_x
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set MC_ROLL_P 6.5
 	param set MC_ROLLRATE_P 0.05
diff --git a/ROMFS/px4fmu_common/init.d/4070_aerofc b/ROMFS/px4fmu_common/init.d/4070_aerofc
index f9a6d8a99208..637562807fef 100644
--- a/ROMFS/px4fmu_common/init.d/4070_aerofc
+++ b/ROMFS/px4fmu_common/init.d/4070_aerofc
@@ -19,7 +19,7 @@ sh /etc/init.d/rc.mc_defaults
 #
 # Load default params for this platform
 #
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	# Set all params here, then disable autoconfig
 
diff --git a/ROMFS/px4fmu_common/init.d/4080_zmr250 b/ROMFS/px4fmu_common/init.d/4080_zmr250
index 9ec94c2638dd..de222228ad67 100644
--- a/ROMFS/px4fmu_common/init.d/4080_zmr250
+++ b/ROMFS/px4fmu_common/init.d/4080_zmr250
@@ -15,7 +15,7 @@ sh /etc/init.d/rc.mc_defaults
 set MIXER zmr250
 set PWM_OUT 1234
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set MC_ROLL_P 2.0
 	param set MC_ROLLRATE_P 0.05
diff --git a/ROMFS/px4fmu_common/init.d/4090_nanomind b/ROMFS/px4fmu_common/init.d/4090_nanomind
index 0d16f79c5ba7..806962fc951a 100644
--- a/ROMFS/px4fmu_common/init.d/4090_nanomind
+++ b/ROMFS/px4fmu_common/init.d/4090_nanomind
@@ -17,7 +17,7 @@
 
 sh /etc/init.d/4001_quad_x
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set MC_ROLL_P 8.0
 	param set MC_ROLLRATE_P 0.19
diff --git a/ROMFS/px4fmu_common/init.d/4900_crazyflie b/ROMFS/px4fmu_common/init.d/4900_crazyflie
index ef43b2282c10..1f8d5fcd8fbe 100644
--- a/ROMFS/px4fmu_common/init.d/4900_crazyflie
+++ b/ROMFS/px4fmu_common/init.d/4900_crazyflie
@@ -18,7 +18,7 @@
 sh /etc/init.d/4001_quad_x
 
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set COM_RC_IN_MODE 2
 	param set BAT_N_CELLS 1
diff --git a/ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd b/ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd
index c229b1453c09..2bf966f1d992 100644
--- a/ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd
+++ b/ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd
@@ -15,7 +15,7 @@
 
 sh /etc/init.d/rc.gnd_defaults
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set BAT_N_CELLS 7
 
diff --git a/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_defaults b/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_defaults
index 7caac82b5425..0419ff5c6719 100644
--- a/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_defaults
@@ -4,7 +4,7 @@ set VEHICLE_TYPE ugv
 
 # This section can be enabled once tuning parameters for this particular
 # rover model are known. It allows to configure default gains via the GUI
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	# PWM default value for "disarmed" mode
 	# this centers the steering and throttle, which means no motion
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index 56a15e37d662..853f9a20fb53 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -2,7 +2,7 @@
 
 set VEHICLE_TYPE fw
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	#
 	# Default parameters for FW
diff --git a/ROMFS/px4fmu_common/init.d/rc.gnd_defaults b/ROMFS/px4fmu_common/init.d/rc.gnd_defaults
index 556098f92426..88361a4eb636 100644
--- a/ROMFS/px4fmu_common/init.d/rc.gnd_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.gnd_defaults
@@ -2,7 +2,7 @@
 
 set VEHICLE_TYPE ugv
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 #
 # Default parameters for UGVs
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
index 6f04791f61ef..39ab3a38adf7 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -2,7 +2,7 @@
 
 set VEHICLE_TYPE mc
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set NAV_ACC_RAD 2.0
 	param set RTL_RETURN_ALT 30.0
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
index f4580b252285..486dfc4abd28 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@@ -2,7 +2,7 @@
 
 set VEHICLE_TYPE vtol
 
-if [ $AUTOCNF == yes ]
+if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 then
 	param set MC_ROLL_P 6.0
 	param set MC_PITCH_P 6.0
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index e8e57397c828..af64610c72c5 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -33,6 +33,15 @@ set +e
 # UART7			/dev/ttyS5		?
 # UART8			/dev/ttyS6		CONSOLE
 
+#
+# Configuration defaults
+#
+# Increment this variable if the system default configuration
+# changes significantly. This will not wipe the param storage
+# but force setting the airframe parameters again.
+#
+set DEFAULTS_VER 1
+
 #
 # Mount the procfs.
 #
@@ -151,16 +160,16 @@ then
 		set AUTOCNF yes
 	else
 		set AUTOCNF no
+	fi
 
-		#
-		# Release 1.4.0 transitional support:
-		# set to old default if unconfigured.
-		# this preserves the previous behaviour
-		#
-		if param compare BAT_N_CELLS 0
-		then
-			param set BAT_N_CELLS 3
-		fi
+	#
+	# Allow overriding airframe defaults as we change them
+	#
+	if param compare SYS_PARAM_VER ${DEFAULTS_VER}
+	then
+		set NEW_DEFAULTS no
+	else
+		set NEW_DEFAULTS yes
 	fi
 
 	#
@@ -283,7 +292,7 @@ then
 	#
 	# If autoconfig parameter was set, reset it and save parameters
 	#
-	if [ $AUTOCNF == yes ]
+	if [ $AUTOCNF == yes -o $NEW_DEFAULTS == yes ]
 	then
 		# Disable safety switch by default on Pixracer
 		if ver hwcmp PX4FMU_V4
@@ -294,6 +303,14 @@ then
 	fi
 	unset AUTOCNF
 
+	if [ $NEW_DEFAULTS == yes ]
+	then
+		param set SYS_PARAM_VER ${DEFAULTS_VER}
+		param save
+		set NEW_DEFAULTS no
+		reboot
+	fi
+
 	set IO_PRESENT no
 
 	if [ $USE_IO == yes ]