diff --git a/ROMFS/px4fmu_common/init.d/airframes/6100_tilt_hex b/ROMFS/px4fmu_common/init.d/airframes/6100_tilt_hex
new file mode 100644
index 0000000000..2dbe69ca64
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/airframes/6100_tilt_hex
@@ -0,0 +1,30 @@
+#!/bin/sh
+#
+# @name Hexarotor x with tilted arms
+#
+# @url http://theairlab.org/
+#
+# @type Tilt-Hexarotor
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 motor 5
+# @output MAIN6 motor 6
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Azarakhsh Keipour <keipour@cmu.edu>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+# Set mixer
+set MIXER hexa_tilt
+
+# Need to set all 8 channels
+set PWM_OUT 12345678
diff --git a/ROMFS/px4fmu_common/mixers/hexa_tilt.main.mix b/ROMFS/px4fmu_common/mixers/hexa_tilt.main.mix
new file mode 100644
index 0000000000..a80cc5df9d
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/hexa_tilt.main.mix
@@ -0,0 +1,3 @@
+# Hexarotor with tilted arms
+
+R: 6t 10000 10000 10000 0
diff --git a/Tools/px4airframes/srcparser.py b/Tools/px4airframes/srcparser.py
index 0ecc9f7ecc..e6489ccef0 100644
--- a/Tools/px4airframes/srcparser.py
+++ b/Tools/px4airframes/srcparser.py
@@ -92,6 +92,8 @@ class ParameterGroup(object):
             return "Rover"
         elif (self.name == "Boat"):
             return "Boat"
+        elif (self.name == "Tilt-Hexarotor"):
+            return "HexaRotorX"
         return "AirframeUnknown"
 
     def GetParams(self):