diff --git a/posix-configs/rpi/px4_fw.config b/posix-configs/rpi/px4_fw.config
new file mode 100644
index 0000000000..a30f65d31d
--- /dev/null
+++ b/posix-configs/rpi/px4_fw.config
@@ -0,0 +1,24 @@
+uorb start
+param load
+param set MAV_BROADCAST 1
+#param set SYS_AUTOSTART 2104
+param set MAV_TYPE 1
+df_lsm9ds1_wrapper start -R 4
+df_ms5611_wrapper start
+#navio_rgbled start
+gps start -d /dev/spidev0.0 -i spi -p ubx
+sensors start
+commander start
+ekf2 start
+fw_att_control start
+fw_pos_control_l1
+mavlink start -u 14556 -r 1000000
+sleep 1
+mavlink stream -u 14556 -s HIGHRES_IMU -r 20
+mavlink stream -u 14556 -s ATTITUDE -r 20
+mavlink stream -u 14556 -s MANUAL_CONTROL -r 10
+
+
+navio_sysfs_rc_in start
+navio_sysfs_pwm_out start
+mavlink boot_complete