supports MindPXv2 borad which is a product from AirMind.

ROMFS/px4fmu_common/init.d/rc.interface

@@ -103,6 +103,12 @@ then
 	set MIXER_AUX none
 fi
 
+#MindPX has not aux mixer
+if ver hwcmp MINDPX_V2
+then
+        set MIXER_AUX none
+fi
+
 if [ $MIXER_AUX != none -a $AUX_MODE != none ]
 then
 	#

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -106,32 +106,52 @@ else
 		then
 		fi
 	else
-		# FMUv1
-		if mpu6000 start
+		if ver hwcmp MINDPX_V2
 		then
-		fi
+			if mpu6500 start
+			then
+			fi
 
-		if l3gd20 start
-		then
-		fi
+			if lsm303d start
+			then
+			fi
 
-		# MAG selection
-		if param compare SENS_EXT_MAG 2
-		then
-			if hmc5883 -C -I start
+			if l3gd20 start
+			then
+			fi
+
+			# External I2C bus
+			if hmc5883 -C -T -X start
 			then
 			fi
 		else
-			# Use only external as primary
-			if param compare SENS_EXT_MAG 1
+			# FMUv1
+			if mpu6000 start
 			then
-				if hmc5883 -C -X start
+			fi
+
+			if l3gd20 start
+			then
+			fi
+
+			# MAG selection
+			if param compare SENS_EXT_MAG 2
+			then
+				if hmc5883 -C -I start
 				then
 				fi
 			else
-			# auto-detect the primary, prefer external
-				if hmc5883 start
+				# Use only external as primary
+				if param compare SENS_EXT_MAG 1
 				then
+					if hmc5883 -C -X start
+					then
+					fi
+				else
+				# auto-detect the primary, prefer external
+					if hmc5883 start
+					then
+					fi
 				fi
 			fi
 		fi

ROMFS/px4fmu_common/init.d/rcS

@@ -114,21 +114,6 @@ then
 		set AUTOCNF no
 	fi
 
-	#
-	# Set USE_IO flag
-	#
-	if param compare SYS_USE_IO 1
-	then
-		if ver hwcmp PX4FMU_V4
-		then
-			set USE_IO no
-		else
-			set USE_IO yes
-		fi
-	else
-		set USE_IO no
-	fi
-
 	#
 	# Set default values
 	#
@@ -156,6 +141,35 @@ then
 	set EXIT_ON_END no
 	set MAV_TYPE none
 	set FAILSAFE none
+	set USE_IO yes
+
+	#
+	# Set USE_IO flag
+	#
+	if param compare SYS_USE_IO 1
+	then
+		if ver hwcmp PX4FMU_V4
+		then
+			set USE_IO no
+		fi
+
+		if ver hwcmp MINDPX_V2
+		then
+			set USE_IO no
+		fi
+	else
+		set USE_IO no
+	fi
+
+	# should set to 0.8 for mindpx-v2 borad.
+	if param compare INAV_LIDAR_ERR 0.5
+	then
+		if ver hwcmp MINDPX_V2
+		then
+			param set INAV_LIDAR_ERR 0.8
+			param save
+		fi
+	fi
 
 	#
 	# Set parameters and env variables for selected AUTOSTART
@@ -526,6 +540,49 @@ then
 		fi
 	fi
 
+	#
+	# MAVLink onboard / TELEM2
+	#
+	if ver hwcmp MINDPX_V2
+	then
+	else
+		# XXX We need a better way for runtime eval of shell variables,
+		# but this works for now
+		if param compare SYS_COMPANION 921600
+		then
+			mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 80000 -x
+		fi
+		if param compare SYS_COMPANION 57600
+		then
+			mavlink start -d /dev/ttyS2 -b 57600 -m onboard -r 5000 -x
+		fi
+		if param compare SYS_COMPANION 157600
+		then
+			mavlink start -d /dev/ttyS2 -b 57600 -m osd -r 1000
+		fi
+		if param compare SYS_COMPANION 257600
+		then
+			mavlink start -d /dev/ttyS2 -b 57600 -m magic -r 5000 -x
+		fi
+		if param compare SYS_COMPANION 357600
+		then
+			mavlink start -d /dev/ttyS2 -b 57600 -r 1000
+		fi
+		# Sensors on the PWM interface bank
+		# clear pins 5 and 6
+		if param compare SENS_EN_LL40LS 1
+		then
+			set AUX_MODE pwm4
+		fi
+		if param greater TRIG_MODE 0
+		then
+			# Get FMU driver out of the way
+			set MIXER_AUX none
+			set AUX_MODE none
+			camera_trigger start
+		fi
+	fi
+
 	# Transitional support: Disable safety on all Pixracer boards
 	if ver hwcmp PX4FMU_V4
 	then
@@ -801,6 +858,12 @@ fi
 # XXX potentially unset all script variables.
 unset TUNE_ERR
 
+#if ver hwcmp MINDPX_V2
+#then
+#	start sonnar
+#	hc_sr04 start
+#fi
+
 # Boot is complete, inform MAVLink app(s) that the system is now fully up and running
 mavlink boot_complete
 
@@ -826,6 +889,12 @@ then
 	px4flow start &
 fi
 
+if ver hwcmp MINDPX_V2
+then
+	#mindxp also need flow
+	px4flow start &
+fi
+
 # Start USB shell if no microSD present, MAVLink else
 if [ $LOG_FILE == /dev/null ]
 then