diff --git a/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500 b/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
new file mode 100644
index 0000000000..fd2c87d631
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
@@ -0,0 +1,26 @@
+#!/bin/sh
+#
+# @name Holybro S500
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+set PWM_OUT 1234
+
+if [ $AUTOCNF = yes ]
+then
+	param set IMU_GYRO_CUTOFF 80
+	param set MC_DTERM_CUTOFF 40
+	param set MC_ROLLRATE_P 0.14
+	param set MC_PITCHRATE_P 0.14
+	param set MC_ROLLRATE_I 0.3
+	param set MC_PITCHRATE_I 0.3
+	param set MC_ROLLRATE_D 0.004
+	param set MC_PITCHRATE_D 0.004
+fi
diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
index 49c0fff59d..9d12291bdd 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
@@ -69,6 +69,7 @@ px4_add_romfs_files(
 	4012_quad_x_can
 	4013_bebop
 	4014_s500
+	4015_holybro_s500
 	4020_hk_micro_pcb
 	4030_3dr_solo
 	4031_3dr_quad