diff --git a/posix-configs/rpi/px4_rpi.config b/posix-configs/rpi/px4_rpi.config
new file mode 100644
index 0000000000..2adcce6cd1
--- /dev/null
+++ b/posix-configs/rpi/px4_rpi.config
@@ -0,0 +1,26 @@
+uorb start
+param load
+param set SYS_AUTOSTART 4001
+param set MAV_BROADCAST 1
+sleep 1
+param set MAV_TYPE 2
+df_mpu9250_wrapper start -R 10
+df_ms5611_wrapper start
+#gps start -d /dev/spidev0.0 -i spi -p ubx
+sensors start
+commander start
+attitude_estimator_q start
+position_estimator_inav start
+land_detector start multicopter
+mc_pos_control start
+mc_att_control start
+mavlink start -u 14556 -r 1000000
+sleep 1
+mavlink stream -u 14556 -s HIGHRES_IMU -r 50
+mavlink stream -u 14556 -s ATTITUDE -r 50
+#mavlink start -d /dev/ttyUSB0
+#mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 50
+#mavlink stream -d /dev/ttyUSB0 -s ATTITUDE -r 50
+rpi_rc_in start
+logger start -t
+mavlink boot_complete