wip: squashed patch

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -30,6 +30,7 @@ set MIXER_FILE                  none
 set OUTPUT_MODE                 sim
 set EXTRA_MIXER_MODE            none
 set PWM_OUT                     none
+set PWM_AUX_OUT                 none
 set SDCARD_MIXERS_PATH          etc/mixers
 set USE_IO                      no
 set VEHICLE_TYPE                none
@@ -103,6 +104,7 @@ fi
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
+param set MNT_MAV_SYSID $((px4_instance+1))
 
 if [ $AUTOCNF = yes ]
 then
@@ -255,6 +257,12 @@ then
 	gyro_calibration start
 fi
 
+# Payload deliverer module if gripper is enabled
+if param compare -s PD_GRIPPER_EN 1
+then
+	payload_deliverer start
+fi
+
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink