diff --git a/ROMFS/px4fmu_common/init.d/2101_hk_bixler b/ROMFS/px4fmu_common/init.d/2101_fw_AERT
similarity index 100%
rename from ROMFS/px4fmu_common/init.d/2101_hk_bixler
rename to ROMFS/px4fmu_common/init.d/2101_fw_AERT
diff --git a/ROMFS/px4fmu_common/init.d/2104_fw_AETR b/ROMFS/px4fmu_common/init.d/2104_fw_AETR
new file mode 100644
index 0000000000..bb4390b1d3
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/2104_fw_AETR
@@ -0,0 +1,5 @@
+#!nsh
+
+sh /etc/init.d/rc.fw_defaults
+
+set MIXER AETR
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index a45ceeb276..ec405accac 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -65,7 +65,7 @@ fi
 
 if param compare SYS_AUTOSTART 2101 101
 then
-	sh /etc/init.d/2101_hk_bixler
+	sh /etc/init.d/2101_fw_AERT
 	set MODE custom
 fi
 
@@ -81,6 +81,12 @@ then
         set MODE custom
 fi
 
+if param compare SYS_AUTOSTART 2104
+then
+	sh /etc/init.d/2104_fw_AETR
+	set MODE custom
+fi
+
 #
 # Flying wing
 #
diff --git a/ROMFS/px4fmu_common/mixers/AETR.main.mix b/ROMFS/px4fmu_common/mixers/AETR.main.mix
new file mode 100644
index 0000000000..8bd3613128
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/AETR.main.mix
@@ -0,0 +1,84 @@
+Aileron/Elevator/Throttle/Rudder mixer for PX4FMU
+==================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
+assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
+elevator to output 1, the throttle to output 2 and the rudder to output 3.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+Aileron mixer
+-------------
+Two scalers total (output, roll).
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+As there is only one output, if using two servos adjustments to compensate for
+differences between the servos must be made mechanically.  To obtain the correct
+motion using a Y  cable, the servos can be positioned reversed from one another.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+
+Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 1  -10000  -10000      0 -10000  10000
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+
+Gimbal / flaps / payload mixer for last four channels,
+using the payload control group
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 0  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 1  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 2  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 3  10000  10000      0 -10000  10000