diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb
index 7e28f3d81d..5b1bd272e9 100644
--- a/ROMFS/px4fmu_common/init.d/rc.usb
+++ b/ROMFS/px4fmu_common/init.d/rc.usb
@@ -22,6 +22,17 @@ then
 	echo "Commander started"
 fi
 
+# Start px4io if present
+if px4io start
+then
+	echo "PX4IO driver started"
+else
+	if fmu mode_serial
+	then
+		echo "FMU driver started"
+	fi
+fi
+
 # Start sensors
 sh /etc/init.d/rc.sensors