diff --git a/ROMFS/px4fmu_common/init.d/4070_aerofc b/ROMFS/px4fmu_common/init.d/4070_aerofc
new file mode 100644
index 0000000000..47f0cbd76d
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/4070_aerofc
@@ -0,0 +1,13 @@
+#!nsh
+#
+# @name AEROFC V1 board
+#
+# @type Quadrotor x
+
+sh /etc/init.d/rc.mc_defaults
+
+tap_esc start -d /dev/ttyS0 -n 4
+set OUTPUT_DEV /dev/tap_esc
+set MIXER quad_x
+
+set MAVLINK_F "-r 1200 -d /dev/ttyS2"
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 6779cb0420..049809621c 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -179,6 +179,11 @@ then
 		set USE_IO no
 	fi
 
+	if ver hwcmp AEROFC_V1
+	then
+		param set SYS_AUTOSTART 4070
+	fi
+
 	#
 	# Set parameters and env variables for selected AUTOSTART
 	#