diff --git a/ROMFS/px4fmu_common/CMakeLists.txt b/ROMFS/px4fmu_common/CMakeLists.txt
index 800bb9821e..235b6c9ae9 100644
--- a/ROMFS/px4fmu_common/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/CMakeLists.txt
@@ -35,6 +35,5 @@ add_subdirectory(init.d)
 add_subdirectory(mixers)
 # TODO: make this configurable from the board config, or better combine
 if("${PX4_BOARD}" MATCHES "sitl")
-	add_subdirectory(mixers-sitl)
 	add_subdirectory(init.d-posix)
 endif()
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris b/ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris
index 7bdbe1b283..9f23c3370d 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris
@@ -9,4 +9,25 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_w
+
+param set-default CA_AIRFRAME 0
+
+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 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
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc b/ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc
deleted file mode 100644
index 9f14acc73b..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc
+++ /dev/null
@@ -1,35 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL
-#
-# @type Quadrotor Wide
-#
-# @maintainer Julian Oes <julian@oes.ch>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-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 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
-
-set MIXER skip
-set MIXER_AUX none
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10019_omnicopter b/ROMFS/px4fmu_common/init.d-posix/airframes/10019_omnicopter
index ad69ad0f88..36bed6a03b 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10019_omnicopter
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10019_omnicopter
@@ -95,5 +95,3 @@ param set-default CA_METHOD 0
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0
 
-set MIXER skip
-set MIXER_AUX none
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a b/ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a
deleted file mode 100644
index bbe6f6b6c7..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a
+++ /dev/null
@@ -1,19 +0,0 @@
-#!/bin/sh
-#
-# @name IF750A SITL
-# InspiredFlight 750 Auterion edition. Gazebo Only.
-#
-# @type Quadrotor
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-# EKF2: Multi GPS blending (as the model has 2 GPS's)
-param set-default SENS_GPS_MASK 7
-param set-default TRIG_INTERFACE 3
-param set-default TRIG_MODE 4
-param set-default MNT_MODE_IN 4
-param set-default MNT_MODE_OUT 2
-param set-default MNT_DO_STAB 2
-
-set MIXER quad_x
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10030_px4vision b/ROMFS/px4fmu_common/init.d-posix/airframes/10030_px4vision
index 1eb4be33f7..b82481b7c9 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10030_px4vision
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10030_px4vision
@@ -8,4 +8,8 @@
 
 . ${R}etc/init.d/airframes/4016_holybro_px4vision
 
-set MIXER quad_x
+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
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10040_quadx b/ROMFS/px4fmu_common/init.d-posix/airframes/10040_quadx
index 1586ea7814..a7bce6916f 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10040_quadx
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10040_quadx
@@ -9,7 +9,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
 
 # disable some checks to allow to fly:
 # - with usb
@@ -20,4 +19,24 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
 
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+
+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 SIH_VEHICLE_TYPE 0
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10041_airplane b/ROMFS/px4fmu_common/init.d-posix/airframes/10041_airplane
index e5e33fef9f..5f20770c1f 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10041_airplane
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10041_airplane
@@ -8,7 +8,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-set MIXER AERT
 
 # disable some checks to allow to fly:
 # - with usb
@@ -21,13 +20,30 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default BAT_N_CELLS 3
 
-param set SIH_T_MAX 6.0
-param set SIH_MASS 0.3
-param set SIH_IXX 0.00402
-param set SIH_IYY 0.0144
-param set SIH_IZZ 0.0177
-param set SIH_IXZ 0.00046
-param set SIH_KDV 0.2
+param set-default SIH_T_MAX 6.0
+param set-default SIH_MASS 0.3
+param set-default SIH_IXX 0.00402
+param set-default SIH_IYY 0.0144
+param set-default SIH_IZZ 0.0177
+param set-default SIH_IXZ 0.00046
+param set-default SIH_KDV 0.2
 
-param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
-param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
+param set-default SIH_VEHICLE_TYPE 1 	# sih as fixed wing
+param set-default RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
+
+
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_P 1.0
+param set-default CA_SV_CS1_TYPE 3
+param set-default CA_SV_CS2_TRQ_Y 1.0
+param set-default CA_SV_CS2_TYPE 4
+param set-default PWM_MAIN_FUNC3 201
+param set-default PWM_MAIN_FUNC4 202
+param set-default PWM_MAIN_FUNC5 203
+param set-default PWM_MAIN_FUNC6 101
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10042_xvert b/ROMFS/px4fmu_common/init.d-posix/airframes/10042_xvert
index 7d0d056caa..dc8629c8da 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10042_xvert
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10042_xvert
@@ -16,8 +16,6 @@ param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5
 
 param set-default MAV_TYPE 19
-set MAV_TYPE 19
-set MIXER vtol_tailsitter_duo_sat
 
 # disable some checks to allow to fly:
 # - with usb
@@ -30,16 +28,39 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default BAT_N_CELLS 3
 
-param set SIH_T_MAX 2.0
-param set SIH_Q_MAX 0.0165
-param set SIH_MASS 0.2
+param set-default SIH_T_MAX 2.0
+param set-default SIH_Q_MAX 0.0165
+param set-default SIH_MASS 0.2
 # IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
-param set SIH_IXX 0.00354
-param set SIH_IYY 0.000625
-param set SIH_IZZ 0.00300
-param set SIH_IXZ 0.0
-param set SIH_KDV 0.2
-param set SIH_L_ROLL 0.145
+param set-default SIH_IXX 0.00354
+param set-default SIH_IYY 0.000625
+param set-default SIH_IZZ 0.00300
+param set-default SIH_IXZ 0.0
+param set-default SIH_KDV 0.2
+param set-default SIH_L_ROLL 0.145
 
 # sih as tailsitter
-param set SIH_VEHICLE_TYPE 2
+param set-default SIH_VEHICLE_TYPE 2
+
+param set-default CA_AIRFRAME 4
+
+param set-default CA_ROTOR_COUNT 2
+param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PY 2
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR1_KM 0.05
+
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_Y -0.5
+param set-default CA_SV_CS1_TYPE 6
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_Y 0.5
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC5 201
+param set-default PWM_MAIN_FUNC6 202
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo b/ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo
deleted file mode 100644
index 45ef72836e..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo
+++ /dev/null
@@ -1,13 +0,0 @@
-#!/bin/sh
-#
-# @name Solo
-#
-# @type Quadrotor
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default MC_PITCHRATE_P 0.1
-param set-default MC_ROLLRATE_P 0.05
-
-set MIXER quad_x
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic b/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic
deleted file mode 100644
index 77580fb1a6..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name UUV
-#
-
-. ${R}etc/init.d/rc.uuv_defaults
-
-# disable circuit breaker for airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
-
-set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
-set MIXER custom
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus b/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus
index d4bf9a22fc..7a016b90ca 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus
@@ -8,5 +8,40 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
-set MIXER custom
+param set-default CA_AIRFRAME 7
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_R_REV 255
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AY 0.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PX 0.0000
+param set-default CA_ROTOR0_PY -0.3000
+param set-default CA_ROTOR0_PZ -0.3000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AY 0.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PX 0.0000
+param set-default CA_ROTOR1_PY 0.3000
+param set-default CA_ROTOR1_PZ -0.3000
+param set-default CA_ROTOR2_AX 1.0000
+param set-default CA_ROTOR2_AY 0.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX 0.0000
+param set-default CA_ROTOR2_PY 0.3000
+param set-default CA_ROTOR2_PZ 0.3000
+param set-default CA_ROTOR3_AX 1.0000
+param set-default CA_ROTOR3_AY 0.0000
+param set-default CA_ROTOR3_AZ 0.0000
+param set-default CA_ROTOR3_KM 0.0000
+param set-default CA_ROTOR3_PX 0.0000
+param set-default CA_ROTOR3_PY -0.3000
+param set-default CA_ROTOR3_PZ 0.3000
+
+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
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy b/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
index 9441dc8ac4..d74ef31a69 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
@@ -65,4 +65,3 @@ param set-default PWM_MAIN_FUNC6 106
 param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108
 
-set MIXER skip
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
index a6af630c18..5772764360 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
@@ -67,5 +67,3 @@ param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
 
 
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
index 80aad7ab12..c7659a2371 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
@@ -39,6 +39,28 @@ param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8
 
+param set-default CA_AIRFRAME 1
+
+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_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+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_FUNC9 206
+param set-default PWM_MAIN_REV 256
 
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
index 4344116652..c7659a2371 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
@@ -39,5 +39,28 @@ param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8
 
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
+param set-default CA_AIRFRAME 1
+
+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_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+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_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod b/ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod
index 83476e9e93..18928b0ff4 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod
@@ -35,5 +35,28 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
+param set-default CA_AIRFRAME 1
+
+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_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+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_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo b/ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo
index 915940a146..bd4f9da1b4 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo
@@ -37,5 +37,28 @@ param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8
 
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
+param set-default CA_AIRFRAME 1
+
+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_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+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_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer b/ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer
index 08763918f1..923687d5d6 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer
@@ -44,5 +44,28 @@ param set-default FW_USE_NPFG 1
 
 param set-default RWTO_TKOFF 1
 
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
+param set-default CA_AIRFRAME 1
+
+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_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+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_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
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 fbc0dcde44..28eb3ad57c 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
@@ -81,5 +81,3 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2
 
-set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
-set MIXER custom
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter b/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
index 0f305728c4..359b50d784 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
@@ -76,5 +76,3 @@ param set-default VT_TYPE 0
 
 param set-default WV_EN 0
 
-set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
-set MIXER custom
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
index 5dfaa3bff2..e9d21669aa 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
@@ -84,5 +84,3 @@ param set-default VT_MOT_ID 1234
 param set-default VT_TILT_TRANS 0.6
 param set-default VT_TYPE 1
 
-set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
-set MIXER custom
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop
index ef2cdf42a8..7721de571c 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop
@@ -5,48 +5,14 @@
 # @type Standard VTOL
 #
 
-. ${R}etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d-posix/airframes/1040_standard_vtol
 
-param set-default FW_L1_PERIOD 12
-param set-default FW_PR_FF 0.2
-param set-default FW_PR_P 0.9
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MIN -15
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_P 0.3
-param set-default FW_THR_TRIM 0.25
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_T_ALT_TC 2
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-param set-default FW_T_TAS_TC 2
-
-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_YAW_P 1.6
-
-param set-default MIS_TAKEOFF_ALT 10
-
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
-
-param set-default NAV_ACC_RAD 5
-
-param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_B_TRANS_DUR 8
-param set-default VT_TYPE 2
+# Gimbal
+param set-default PWM_MAIN_FUNC9 420
+param set-default PWM_MAIN_FUNC10 421
+param set-default PWM_MAIN_FUNC11 422
 
 param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10
 
-set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
-set MIXER custom
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop.post b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop.post
deleted file mode 100644
index 262b86cc69..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop.post
+++ /dev/null
@@ -1 +0,0 @@
-mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_plane_lidar b/ROMFS/px4fmu_common/init.d-posix/airframes/1044_plane_lidar
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1033_plane_lidar
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1044_plane_lidar
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
index cd8aca77f1..74ed35e863 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
@@ -36,4 +36,3 @@ param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
 
-set MIXER_FILE skip
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
index 8b0a91d3b4..c48e495d6a 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
@@ -36,4 +36,3 @@ param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC6 102
 param set-default PWM_MAIN_FUNC7 102
 
-set MIXER_FILE skip
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1 b/ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1
index 4e271c77b9..0134210800 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1
@@ -35,4 +35,11 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 3.0
 
-set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
+param set-default CA_AIRFRAME 5
+
+param set-default CA_R_REV 1
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 201
+param set-default PWM_MAIN_FUNC6 101
+param set-default PWM_MAIN_FUNC7 101
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
index 1d8cb686c2..be68232e37 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
@@ -46,4 +46,3 @@ param set-default CA_R_REV 3
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 
-set MIXER skip
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1 b/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
index 0a4a023144..395310d75e 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
@@ -44,5 +44,25 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0
 
-set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
-set MIXER custom
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R 0
+param set-default CA_SV_CS0_TRQ_Y 1
+param set-default CA_SV_CS0_TYPE 4
+param set-default CA_SV_CS1_TRQ_P 0
+param set-default CA_SV_CS1_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 1
+param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TYPE 3
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 101
+param set-default PWM_MAIN_FUNC3 202
+param set-default PWM_MAIN_FUNC4 203
+param set-default PWM_MAIN_FUNC5 407
+param set-default PWM_MAIN_FUNC6 408
+param set-default PWM_MAIN_FUNC7 409
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/17002_tf-g2 b/ROMFS/px4fmu_common/init.d-posix/airframes/17002_tf-g2
index a8c64e3651..4ed9a2bbde 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/17002_tf-g2
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/17002_tf-g2
@@ -50,5 +50,25 @@ param set-default FW_THR_CRUISE 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0
 
-set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
-set MIXER custom
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R 0
+param set-default CA_SV_CS0_TRQ_Y 1
+param set-default CA_SV_CS0_TYPE 4
+param set-default CA_SV_CS1_TRQ_P 0
+param set-default CA_SV_CS1_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 1
+param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TYPE 3
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 101
+param set-default PWM_MAIN_FUNC3 202
+param set-default PWM_MAIN_FUNC4 203
+param set-default PWM_MAIN_FUNC5 407
+param set-default PWM_MAIN_FUNC6 408
+param set-default PWM_MAIN_FUNC7 409
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship b/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship
index e3930a1fbc..01f7c2ac2b 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship
@@ -37,4 +37,3 @@ param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 201
 param set-default PWM_MAIN_FUNC4 103
 
-set MIXER skip
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/3010_quadrotor_x b/ROMFS/px4fmu_common/init.d-posix/airframes/3010_quadrotor_x
index 81e2505111..b0e5529fd8 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/3010_quadrotor_x
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/3010_quadrotor_x
@@ -9,4 +9,24 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_w
+
+param set-default CA_AIRFRAME 0
+
+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 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
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x b/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
index 85f14ef4d6..b17de91d1b 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
@@ -26,4 +26,29 @@ param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2
 
-set MIXER hexa_x
+
+param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 1.0
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -1.0
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.866025
+param set-default CA_ROTOR2_PY -0.5
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.866025
+param set-default CA_ROTOR3_PY 0.5
+param set-default CA_ROTOR3_KM 0.05
+param set-default CA_ROTOR4_PX 0.866025
+param set-default CA_ROTOR4_PY 0.5
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR5_PX -0.866025
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR5_KM -0.05
+
+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 106
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480 b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
index 2cdd4a5314..05ae1af81a 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
@@ -28,4 +28,39 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
 param set-default MAV_PROTO_VER 2
 
-set MIXER hexa_x
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 6
+
+param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 1.0
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -1.0
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.866025
+param set-default CA_ROTOR2_PY -0.5
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.866025
+param set-default CA_ROTOR3_PY 0.5
+param set-default CA_ROTOR3_KM 0.05
+param set-default CA_ROTOR4_PX 0.866025
+param set-default CA_ROTOR4_PY 0.5
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR5_PX -0.866025
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR5_KM -0.05
+
+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 106
+# Gimbal
+param set-default PWM_MAIN_FUNC7 420
+param set-default PWM_MAIN_FUNC8 421
+param set-default PWM_MAIN_FUNC9 422
+# Landing gear
+param set-default PWM_MAIN_FUNC10 400
+param set-default PWM_MAIN_FUNC11 400
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480.post b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480.post
index 0af01438b7..13788654eb 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480.post
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480.post
@@ -1,6 +1,4 @@
 
-mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
-
 mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
 
 # shellcheck disable=SC2154
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc b/ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc
deleted file mode 100644
index 65e72db75e..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc
+++ /dev/null
@@ -1,62 +0,0 @@
-#!/bin/sh
-#
-# @name Typhoon H480 SITL
-#
-# @type Hexarotor x
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default MAV_TYPE 13
-
-param set-default MC_PITCHRATE_P 0.0800
-param set-default MC_PITCHRATE_I 0.0400
-param set-default MC_PITCHRATE_D 0.0010
-param set-default MC_PITCH_P 9.0
-param set-default MC_ROLLRATE_P 0.0800
-param set-default MC_ROLLRATE_I 0.0400
-param set-default MC_ROLLRATE_D 0.0010
-param set-default MC_ROLL_P 9.0
-
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_P_ACC 3
-
-param set-default RTL_DESCEND_ALT 10
-param set-default RTL_LAND_DELAY 0
-
-param set-default TRIG_INTERFACE 3
-param set-default TRIG_MODE 4
-param set-default MNT_MODE_IN 0
-param set-default MAV_PROTO_VER 2
-
-param set-default CA_AIRFRAME 0
-param set-default CA_ROTOR_COUNT 6
-
-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 1.0
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -1.0
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.866025
-param set-default CA_ROTOR2_PY -0.5
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.866025
-param set-default CA_ROTOR3_PY 0.5
-param set-default CA_ROTOR3_KM 0.05
-param set-default CA_ROTOR4_PX 0.866025
-param set-default CA_ROTOR4_PY 0.5
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR5_PX -0.866025
-param set-default CA_ROTOR5_PY -0.5
-param set-default CA_ROTOR5_KM -0.05
-
-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 106
-
-set MIXER skip
-set MIXER_AUX none
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc.post b/ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc.post
deleted file mode 100644
index 13788654eb..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc.post
+++ /dev/null
@@ -1,8 +0,0 @@
-
-mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
-
-# shellcheck disable=SC2154
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
-# shellcheck disable=SC2154
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
index ce1b3d05f4..65cf8ac6f7 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -33,10 +33,8 @@
 
 px4_add_romfs_files(
 	10016_iris
-	10017_iris_ctrlalloc
 	10018_iris_foggy_lidar
 	10019_omnicopter
-	10020_if750a
 	10030_px4vision
 	10040_quadx
 	10041_airplane
@@ -47,19 +45,16 @@ px4_add_romfs_files(
 	1012_iris_rplidar
 	1013_iris_vision
 	1013_iris_vision.post
-	1014_solo
 	1015_iris_obs_avoid
 	1015_iris_obs_avoid.post
 	1017_iris_opt_flow_mockup
 	1018_iris_vision_velocity
 	1019_iris_dual_gps
-	1020_uuv_generic
 	1021_uuv_hippocampus
 	1022_uuv_bluerov2_heavy
 	1030_plane
 	1031_plane_cam
 	1032_plane_catapult
-	1033_plane_lidar
 	1033_rascal
 	1034_rascal-electric
 	1035_techpod
@@ -70,7 +65,7 @@ px4_add_romfs_files(
 	1041_tailsitter
 	1042_tiltrotor
 	1043_standard_vtol_drop
-	1043_standard_vtol_drop.post
+	1044_plane_lidar
 	1060_rover
 	1061_r1_rover
 	1062_tf-r1
@@ -82,6 +77,4 @@ px4_add_romfs_files(
 	2507_cloudship
 	6011_typhoon_h480
 	6011_typhoon_h480.post
-	6012_typhoon_h480_ctrlalloc
-	6012_typhoon_h480_ctrlalloc.post
 )
diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index 25dc9c2fcf..324cb06327 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -24,7 +24,7 @@ fi
 
 # initialize script variables
 set IO_PRESENT                  no
-set MIXER                       none
+set MIXER                       skip
 set MIXER_AUX                   none
 set MIXER_FILE                  none
 set OUTPUT_MODE                 sim
diff --git a/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt b/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt
deleted file mode 100644
index 60f6d12ff2..0000000000
--- a/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt
+++ /dev/null
@@ -1,43 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-px4_add_romfs_files(
-	autogyro_sitl.main.mix
-	delta_wing_sitl.main.mix
-	package_drop.aux.mix
-	plane_sitl.main.mix
-	quad_x_vtol.main.mix
-	standard_vtol_sitl.main.mix
-	tiltrotor_sitl.main.mix
-	uuv_x_sitl.main.mix
-)
diff --git a/ROMFS/px4fmu_common/mixers-sitl/autogyro_sitl.main.mix b/ROMFS/px4fmu_common/mixers-sitl/autogyro_sitl.main.mix
deleted file mode 100644
index 2a9886cdee..0000000000
--- a/ROMFS/px4fmu_common/mixers-sitl/autogyro_sitl.main.mix
+++ /dev/null
@@ -1,37 +0,0 @@
-Mixer for SITL autogyro.
-=========================================================
-
-# 0 mixer for the rudder (Rotor roll)
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 0 2   10000   10000    0 -10000  10000
-
-# 1 mixer for the pusher/puller throttle
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
-
-# 2 mixer for the aileron
-M: 1
-O:      10000  10000   0 -10000  10000
-S: 0 0  -10000  -10000    0 -10000  10000
-
-# 3 mixer for the elevator (Rotor pitch)
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 0 1   10000   10000    0 -10000  10000
-
-# 4 mixer for the prerotator AUX1
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 1 5   10000   10000    0 -10000  10000
-
-# 5 mixer for the manual elevator AUX2
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 1 6   10000   10000    0 -10000  10000
-
-# 6 mixer for the release device AUX3
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 1 7   10000   10000    0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers-sitl/delta_wing_sitl.main.mix b/ROMFS/px4fmu_common/mixers-sitl/delta_wing_sitl.main.mix
deleted file mode 100644
index 994dacca56..0000000000
--- a/ROMFS/px4fmu_common/mixers-sitl/delta_wing_sitl.main.mix
+++ /dev/null
@@ -1,38 +0,0 @@
-Mixer for SITL plane
-=========================================================
-
-Z:
-
-Z:
-
-# mixer for the rudder
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 0 2   10000   10000    0 -10000  10000
-
-# mixer for the flaps
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 0 4   10000   10000    0 -10000  10000
-
-# mixer for the pusher/puller throttle
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
-
-# mixer for the left aileron
-M: 2
-O:      10000  10000   0 -10000  10000
-S: 0 0 -4000  -4000    0 -10000  10000
-S: 0 1  10000  10000   0 -10000  10000
-
-# mixer for the right aileron
-M: 2
-O:      10000  10000   0 -10000  10000
-S: 0 0  4000   4000    0 -10000  10000
-S: 0 1  10000  10000   0 -10000  10000
-
-# mixer for the elevator
-M: 1
-O:      10000  10000   0 -10000  10000
-S: 0 1 -10000 -10000   0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers-sitl/package_drop.aux.mix b/ROMFS/px4fmu_common/mixers-sitl/package_drop.aux.mix
deleted file mode 100644
index 9e0b87924e..0000000000
--- a/ROMFS/px4fmu_common/mixers-sitl/package_drop.aux.mix
+++ /dev/null
@@ -1,12 +0,0 @@
-
-# Roll channel for mount
-M: 1
-S: 3 5  10000  10000      0 -10000  10000
-
-# Pitch channel for mount
-M: 1
-S: 3 6  10000  10000      0 -10000  10000
-
-# Yaw channel for mount
-M: 1
-S: 3 7  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers-sitl/plane_sitl.main.mix b/ROMFS/px4fmu_common/mixers-sitl/plane_sitl.main.mix
deleted file mode 100644
index 836bd0786e..0000000000
--- a/ROMFS/px4fmu_common/mixers-sitl/plane_sitl.main.mix
+++ /dev/null
@@ -1,43 +0,0 @@
-Mixer for SITL plane
-=========================================================
-
-Z:
-
-Z:
-
-# mixer for the rudder
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 0 2   10000   10000    0 -10000  10000
-
-# mixer for the flaps
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 0 4   10000   10000    0 -10000  10000
-
-# mixer for the pusher/puller throttle
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
-
-# mixer for the left aileron
-M: 2
-O:      10000  10000   0 -10000  10000
-S: 0 0  -10000  -10000    0 -10000  10000
-S: 0 5   10000   10000    0 -10000  10000
-
-# mixer for the right aileron
-M: 2
-O:      10000  10000   0 -10000  10000
-S: 0 0  10000  10000    0 -10000  10000
-S: 0 5  10000  10000    0 -10000  10000
-
-# mixer for the elevator
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 0 1   10000   10000    0 -10000  10000
-
-# mixer for the flaps
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 0 4   10000   10000    0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers-sitl/quad_x_vtol.main.mix b/ROMFS/px4fmu_common/mixers-sitl/quad_x_vtol.main.mix
deleted file mode 100644
index 7800997918..0000000000
--- a/ROMFS/px4fmu_common/mixers-sitl/quad_x_vtol.main.mix
+++ /dev/null
@@ -1,16 +0,0 @@
-Mixer for the gazebo tailsitter model
-=====================================
-
-R: 4x
-
-Z:
-
-# left elevon
-M: 2
-S: 1 0  -10000  -10000      0 -10000  10000
-S: 1 1   -10000   -10000    0 -10000  10000
-
-# right elevon
-M: 2
-S: 1 0   10000   10000    0 -10000  10000
-S: 1 1   -10000   -10000    0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers-sitl/standard_vtol_sitl.main.mix b/ROMFS/px4fmu_common/mixers-sitl/standard_vtol_sitl.main.mix
deleted file mode 100644
index 95a087ab82..0000000000
--- a/ROMFS/px4fmu_common/mixers-sitl/standard_vtol_sitl.main.mix
+++ /dev/null
@@ -1,26 +0,0 @@
-Mixer for standard vtol plane (SITL) with motor x configuration
-=========================================================
-
-This file defines a single mixer for a standard vtol plane (SITL gazebo) with motors in X configuration. The plane has two ailerons and one elevator.
-
-R: 4x
-
-# mixer for the pusher/puller throttle
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 1 3      0  20000 -10000 -10000  10000
-
-# mixer for the left aileron
-M: 1
-O:      10000  10000   0 -10000  10000
-S: 1 0  -10000  -10000   0 -10000  10000
-
-# mixer for the right aileron
-M: 1
-O:      10000  10000   0 -10000  10000
-S: 1 0  10000  10000    0 -10000  10000
-
-# mixer for the elevator
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 1 1   10000   10000    0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl.main.mix b/ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl.main.mix
deleted file mode 100644
index 54fd3c51f2..0000000000
--- a/ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl.main.mix
+++ /dev/null
@@ -1,41 +0,0 @@
-Mixer for quad tiltrotor (x motor configuration)
-================================================
-
-This file defines a single mixer for a tiltrotor (SITL gazebo) with motors in X configuration. The plane has two ailerons and one elevator.
-
-R: 4x
-
-# tilt servo motor 1
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 1 8      0  20000 -10000 -10000  10000
-
-# tilt servo motor 2
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 1 8      0  20000 -10000 -10000  10000
-
-# tilt servo motor 3
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 1 8      0  20000 -10000 -10000  10000
-
-# tilt servo motor 4
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 1 8      0  20000 -10000 -10000  10000
-
-# mixer for the left aileron
-M: 1
-O:      10000  10000   0 -10000  10000
-S: 1 0  -10000 -10000    0 -10000  10000
-
-# mixer for the right aileron
-M: 1
-O:      10000  10000   0 -10000  10000
-S: 1 0  10000  10000    0 -10000  10000
-
-# mixer for the elevator
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 1 1   10000   10000    0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers-sitl/uuv_x_sitl.main.mix b/ROMFS/px4fmu_common/mixers-sitl/uuv_x_sitl.main.mix
deleted file mode 100644
index ab27c467e0..0000000000
--- a/ROMFS/px4fmu_common/mixers-sitl/uuv_x_sitl.main.mix
+++ /dev/null
@@ -1,25 +0,0 @@
-Mixer for Unmanned Underwater Vehicles (UUV) with X-Motor configuration
-==========================================================================
-
-# @board px4_fmu-v2 exclude
-
-M: 4
-S: 0 0  -4000  -4000     0 -4000  4000
-S: 0 1  -4000  -4000     0 -4000  4000
-S: 0 2  +4000  +4000     0 -4000  4000
-S: 0 3  +4000  +4000     0 -4000  4000
-M: 4
-S: 0 0  +4000  +4000     0 -4000  4000
-S: 0 1  -4000  -4000     0 -4000  4000
-S: 0 2  -4000  -4000     0 -4000  4000
-S: 0 3  +4000  +4000     0 -4000  4000
-M: 4
-S: 0 0  -4000  -4000     0 -4000  4000
-S: 0 1  +4000  +4000     0 -4000  4000
-S: 0 2  -4000  -4000     0 -4000  4000
-S: 0 3  +4000  +4000     0 -4000  4000
-M: 4
-S: 0 0  +4000  +4000     0 -4000  4000
-S: 0 1  +4000  +4000     0 -4000  4000
-S: 0 2  +4000  +4000     0 -4000  4000
-S: 0 3  +4000  +4000     0 -4000  4000
diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake
index 6fbecfc14f..ab67f5ad5f 100644
--- a/platforms/posix/cmake/sitl_target.cmake
+++ b/platforms/posix/cmake/sitl_target.cmake
@@ -146,9 +146,7 @@ set(models
 	boat
 	cloudship
 	glider
-	if750a
 	iris
-	iris_ctrlalloc
 	iris_dual_gps
 	iris_foggy_lidar
 	iris_irlock
@@ -167,14 +165,12 @@ set(models
 	r1_rover
 	rover
 	shell
-	solo
 	standard_vtol
 	standard_vtol_drop
 	tailsitter
 	techpod
 	tiltrotor
 	typhoon_h480
-	typhoon_h480_ctrlalloc
 	uuv_bluerov2_heavy
 	uuv_hippocampus
 )