diff --git a/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 b/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
new file mode 100644
index 0000000000..f795ecb0f0
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
@@ -0,0 +1,50 @@
+#!/bin/sh
+#
+# @name ThunderFly Auto-G2
+#
+# @type Autogyro
+# @class Autogyro
+#
+# @output MAIN1 rotor_head_L
+# @output MAIN2 rotor_head_R
+# @output MAIN3 elevator
+# @output MAIN4 rudder
+# @output MAIN5 rudder (second, optional)
+# @output MAIN6 throttle
+# @output MAIN7 wheel
+#
+# @output AUX1 feed-through of RC AUX1 channel for prerotator (optional)
+# @output AUX2 feed-through of RC AUX2 channel for release device (optional)
+#
+# @url https://github.com/ThunderFly-aerospace/Auto-G2/
+# @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set BAT_CAPACITY 2500.0
+	param set BAT_N_CELLS 3
+
+	param set PWM_AUX_RATE 50
+	param set PWM_RATE 50
+
+	param set SENS_BOARD_ROT 8
+
+	param set FW_AIRSPD_MAX 20
+	param set FW_AIRSPD_MIN 7
+	param set FW_AIRSPD_TRIM 13
+	param set FW_THR_CRUISE 0.8
+
+	param set FW_MAN_P_MAX 25.0
+	param set FW_MAN_R_MAX 25.0
+	param set FW_PR_I 0.02
+	param set FW_R_LIM 40
+	param set FW_P_LIM_MAX 25.0
+	param set FW_P_LIM_MIN -5.0
+	param set FW_P_RMAX_NEG 20.0
+fi
+
+set MIXER TF-AutoG2
+set MIXER_AUX pass
diff --git a/ROMFS/px4fmu_common/mixers/CMakeLists.txt b/ROMFS/px4fmu_common/mixers/CMakeLists.txt
index 647959b974..7fb5990970 100644
--- a/ROMFS/px4fmu_common/mixers/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/mixers/CMakeLists.txt
@@ -84,4 +84,5 @@ px4_add_romfs_files(
 	vtol_delta.aux.mix
 	wingwing.main.mix
 	zmr250.main.mix
+	TF-AutoG2.main.mix
 )
diff --git a/ROMFS/px4fmu_common/mixers/TF-AutoG2.main.mix b/ROMFS/px4fmu_common/mixers/TF-AutoG2.main.mix
new file mode 100644
index 0000000000..bed0fedee2
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/TF-AutoG2.main.mix
@@ -0,0 +1,55 @@
+Aileron/rudder/elevator/throttle mixer for PX4FMU
+==================================================
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+CH1, 2: rotor-head mixer
+-------------
+Two scalers total (output, roll).
+
+M: 2
+O: 10000 10000 0 -10000 10000
+S: 0 0 -10000 -10000 0 -10000 10000
+S: 0 1  10000  10000      0 -10000  10000
+
+
+M: 2
+O: 10000 10000 0 -10000 10000
+S: 0 0 -10000 -10000 0 -10000 10000
+S: 0 1 -10000 -10000      0 -10000  10000
+
+
+CH3: Elevator, prerotator mixer
+------------
+Two scalers total (output, roll).
+
+M: 1
+O: 7500 7500 0 -10000 10000
+S: 3 6 10000 10000 0 -10000 10000
+
+
+CH4, 5: Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+M: 1
+S: 0 2  10000  10000      0 -10000  10000
+
+M: 1
+S: 0 2  -10000  -10000      0 -10000  10000
+
+CH4: Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
+
+
+CH3: Wheel mixer
+------------
+Two scalers total (output, yaw).
+
+M: 1
+S: 0 2  10000  10000      0 -10000  10000
diff --git a/Tools/px4airframes/rcout.py b/Tools/px4airframes/rcout.py
index 3ece11c1e5..18e8170ab3 100644
--- a/Tools/px4airframes/rcout.py
+++ b/Tools/px4airframes/rcout.py
@@ -28,6 +28,7 @@ class RCOutput():
                     "# 12000 ..  12999       Octo Cox\n"
                     "# 13000 ..  13999       VTOL\n"
                     "# 14000 ..  14999       Tri Y\n"
+                    "# 17000 ..  17999       Autogyro\n"
                     "\n")
         result += "\n"
         result += "set AIRFRAME none\n"
diff --git a/Tools/px4airframes/srcparser.py b/Tools/px4airframes/srcparser.py
index 0ecc9f7ecc..b10f9b6ba7 100644
--- a/Tools/px4airframes/srcparser.py
+++ b/Tools/px4airframes/srcparser.py
@@ -88,6 +88,8 @@ class ParameterGroup(object):
             return "YMinus"
         elif (self.name == "Tricopter Y+"):
             return "YPlus"
+        elif (self.name == "Autogyro"):
+            return "Autogyro"
         elif (self.name == "Rover"):
             return "Rover"
         elif (self.name == "Boat"):