diff --git a/ROMFS/px4fmu_common/init.d/4051_s250aq b/ROMFS/px4fmu_common/init.d/4051_s250aq
new file mode 100644
index 0000000000..72841bee35
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/4051_s250aq
@@ -0,0 +1,57 @@
+#!nsh
+#
+# @name Spedix S250AQ
+#
+# @type Quadrotor asymmetric
+#
+# @output MAIN1 motor1 (front right: CCW)
+# @output MAIN2 motor2 (back left: CCW)
+# @output MAIN3 motor3 (front left: CW)
+# @output MAIN4 motor4 (back right: CW)
+#
+# @output MAIN5 feed-through of RC AUX1 channel
+# @output MAIN6 feed-through of RC AUX2 channel
+#
+# @maintainer Mark Whitehorn <kd0aij@gmail.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_s250aq
+set MAV_TYPE 2
+
+set PWM_OUT 1234
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 8.0
+	param set MC_ROLLRATE_P 0.19
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLLRATE_D 0.0055
+	param set MC_PITCH_P 8.0
+	param set MC_PITCHRATE_P 0.19
+	param set MC_PITCHRATE_I 0.1
+	param set MC_PITCHRATE_D 0.0055
+	param set MC_YAW_P 4.0
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
+	param set MC_ROLLRATE_MAX 720.0
+	param set MC_PITCHRATE_MAX 720.0
+	param set MC_YAWRATE_MAX 400.0
+	param set MC_ACRO_R_MAX 360.0
+	param set MC_ACRO_P_MAX 360.0
+	param set MC_TPA_BREAK_P 0.5
+	param set MC_TPA_RATE_P 0.5
+
+
+	param set PWM_MIN 1075
+
+	param set MPC_THR_MIN 0.06
+	param set MPC_MANTHR_MIN 0.06
+
+	param set ATT_BIAS_MAX 0.0
+
+	param set CBRK_IO_SAFETY 22027
+fi
diff --git a/ROMFS/px4fmu_common/mixers/quad_s250aq.main.mix b/ROMFS/px4fmu_common/mixers/quad_s250aq.main.mix
new file mode 100644
index 0000000000..549ff3a41c
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/quad_s250aq.main.mix
@@ -0,0 +1,7 @@
+R: 4s 10000 10000 10000 0
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 3 5  10000  10000      0 -10000  10000
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 3 6  10000  10000      0 -10000  10000
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp
index 4f47378c8c..981fc3cdf2 100644
--- a/src/modules/systemlib/mixer/mixer_multirotor.cpp
+++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp
@@ -167,6 +167,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 	} else if (!strcmp(geomname, "4w")) {
 		geometry = MultirotorGeometry::QUAD_WIDE;
 
+	} else if (!strcmp(geomname, "4s")) {
+		geometry = MultirotorGeometry::QUAD_S250AQ;
+
 	} else if (!strcmp(geomname, "4dc")) {
 		geometry = MultirotorGeometry::QUAD_DEADCAT;
 
diff --git a/src/modules/systemlib/mixer/multi_tables.py b/src/modules/systemlib/mixer/multi_tables.py
index afa1173a62..1584ccf1de 100755
--- a/src/modules/systemlib/mixer/multi_tables.py
+++ b/src/modules/systemlib/mixer/multi_tables.py
@@ -97,6 +97,13 @@ quad_wide = [
     [  129, CW],
 ]
 
+quad_s250aq = [
+    [   59, CCW, 1.0 ],
+    [ -139, CCW, 0.67],
+    [  -59,  CW, 1.0 ],
+    [  139,  CW, 0.67],
+]
+
 hex_x = [
     [  90, CW],
     [ -90, CCW],
@@ -189,7 +196,7 @@ tri_y = [
 ]
 
 
-tables = [quad_x, quad_h, quad_plus, quad_v, quad_wide, quad_deadcat, hex_x, hex_plus, hex_cox, hex_t, octa_x, octa_plus, octa_cox, octa_cox_wide, twin_engine, tri_y]
+tables = [quad_x, quad_h, quad_plus, quad_v, quad_wide, quad_s250aq, quad_deadcat, hex_x, hex_plus, hex_cox, hex_t, octa_x, octa_plus, octa_cox, octa_cox_wide, twin_engine, tri_y]
 
 def variableName(variable):
     for variableName, value in list(globals().items()):