diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar b/ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar
index 71c88ad875..935b1be4cb 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar
@@ -7,6 +7,5 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-param set-default EKF2_RNG_AID 1
 param set-default EKF2_RNG_A_HMAX 10
 
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic b/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic
index 7122c20d1e..e81bb5fd14 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic
@@ -6,7 +6,6 @@
 . ${R}etc/init.d/rc.uuv_defaults
 
 #Set data link loss failsafe mode (0: disabled)
-param set-default NAV_DLL_ACT 0
 
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus b/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus
index e4752fba88..3229379c3a 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus
@@ -6,7 +6,6 @@
 . ${R}etc/init.d/rc.uuv_defaults
 
 #Set data link loss failsafe mode (0: disabled)
-param set-default NAV_DLL_ACT 0
 
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy b/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
index e7814e3530..4c52965750 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
@@ -6,7 +6,6 @@
 . ${R}etc/init.d/rc.uuv_defaults
 
 #Set data link loss failsafe mode (0: disabled)
-param set-default NAV_DLL_ACT 0
 
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
index 7c3435be88..caa12615c7 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
@@ -5,8 +5,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0
 
@@ -18,7 +16,6 @@ param set-default FW_L1_PERIOD 12
 
 param set-default FW_MAN_P_MAX 30
 
-param set-default FW_PR_I 0.4
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2
 param set-default FW_PSP_OFF 2
@@ -46,7 +43,6 @@ param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
 
 param set-default RWTO_TKOFF 1
 
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
index 6c080c553e..df50472545 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
@@ -5,9 +5,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
-
 param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_THR_LND_MAX 0
@@ -19,7 +16,6 @@ param set-default FW_LND_TLALT 15
 
 param set-default FW_L1_PERIOD 25
 
-param set-default FW_P_TC 0.4
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
 param set-default FW_PR_P 0.05
@@ -38,7 +34,6 @@ param set-default MIS_DIST_WPS 10000
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
 
 param set-default RWTO_TKOFF 1
 
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
index 5028ab1597..0206ebea2f 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
@@ -5,9 +5,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
-
 param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_THR_LND_MAX 0
@@ -19,7 +16,6 @@ param set-default FW_LND_TLALT 15
 
 param set-default FW_L1_PERIOD 25
 
-param set-default FW_P_TC 0.4
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
 param set-default FW_PR_P 0.05
@@ -38,7 +34,6 @@ param set-default MIS_DIST_WPS 10000
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
 
 param set-default RWTO_TKOFF 1
 
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod b/ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod
index 8d653582b9..30d7b926b0 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod
@@ -5,8 +5,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0
 
@@ -35,7 +33,6 @@ param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
 
 param set-default RWTO_TKOFF 1
 
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo b/ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo
index 821ac3028d..a6bfc13246 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo
@@ -5,9 +5,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
-
 param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_THR_LND_MAX 0
@@ -19,7 +16,6 @@ param set-default FW_LND_TLALT 15
 
 param set-default FW_L1_PERIOD 25
 
-param set-default FW_P_TC 0.4
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
 param set-default FW_PR_P 0.05
@@ -38,7 +34,6 @@ param set-default MIS_DIST_WPS 10000
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
 
 param set-default RWTO_TKOFF 1
 param set-default RWTO_MAX_PITCH 20
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer b/ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer
index 7c3435be88..caa12615c7 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer
@@ -5,8 +5,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0
 
@@ -18,7 +16,6 @@ param set-default FW_L1_PERIOD 12
 
 param set-default FW_MAN_P_MAX 30
 
-param set-default FW_PR_I 0.4
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2
 param set-default FW_PSP_OFF 2
@@ -46,7 +43,6 @@ param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
 
 param set-default RWTO_TKOFF 1
 
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
index 962671eed5..c3809114f3 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
@@ -10,7 +10,6 @@
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
-param set-default FW_PR_I 0.4
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
index 26d4ff68bb..3c1a09cb6b 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
@@ -10,7 +10,6 @@
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
-param set-default FW_PR_I 0.4
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop
index 6148fde835..803d4e16d7 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop
@@ -10,7 +10,6 @@
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
-param set-default FW_PR_I 0.4
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1 b/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
index 6ee61d1a30..117041cae4 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
@@ -12,21 +12,12 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
-
 param set-default FW_AIRSPD_STALL 8
 
 param set-default FW_P_RMAX_NEG 20.0
-param set-default FW_P_RMAX_POS 60.0
 param set-default FW_W_RMAX 10
 param set-default FW_W_EN 1
 
-param set-default FW_PR_IMAX 0.4
-param set-default FW_R_TC 0.4
-param set-default FW_RR_FF 0.5
-param set-default FW_RR_I 0.1
-param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.08
 
 param set-default MIS_LTRMIN_ALT 50
@@ -42,7 +33,6 @@ param set-default FW_ARSP_SCALE_EN 0
 
 param set-default FW_AIRSPD_MAX 35
 param set-default FW_AIRSPD_MIN 7
-param set-default FW_AIRSPD_TRIM 15
 
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x b/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
index 92739d6867..a0f3a04294 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
@@ -12,7 +12,6 @@
 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCH_P 6.0
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.1
 param set-default MC_ROLL_P 6.0
 param set-default MPC_XY_VEL_I_ACC 4
diff --git a/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil
index 8675c0e647..ada6610c0e 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil
@@ -30,17 +30,12 @@ param set-default FW_L1_DAMPING 0.74
 param set-default FW_L1_PERIOD 16
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
 param set-default FW_LND_HVIRT 13
 param set-default FW_LND_TLALT 5
 param set-default FW_THR_LND_MAX 0
 param set-default FW_PR_FF 0.35
-param set-default FW_PR_I 0.1
-param set-default FW_PR_IMAX 0.4
 param set-default FW_PR_P 0.2
 param set-default FW_RR_FF 0.6
-param set-default FW_RR_I 0.1
-param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.3
 
 param set-default RWTO_TKOFF 1
diff --git a/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
index a33707b682..3f6118e7b7 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
@@ -25,19 +25,14 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
-param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.1
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_ROLLRATE_D 0.0017
-param set-default MC_PITCH_P 6.5
 param set-default MC_PITCHRATE_P 0.14
 param set-default MC_PITCHRATE_I 0.1
 param set-default MC_PITCHRATE_D 0.0025
-param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.28
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
+
 set MIXER quad_w
 
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
index 22f5491571..a2822828f4 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
@@ -26,17 +26,14 @@
 
 # TODO tune roll/pitch separately
 param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_ROLLRATE_D 0.004
 param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.15
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 2.5
 param set-default MC_YAWRATE_P 0.25
 param set-default MC_YAWRATE_I 0.25
-param set-default MC_YAWRATE_D 0
 
 param set-default BAT1_V_DIV 12.27559
 param set-default BAT1_A_PER_V 15.39103
diff --git a/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
index d84243b610..507265e804 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
+++ b/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
@@ -37,9 +37,6 @@ param set-default MC_PITCHRATE_P 0.19
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 4
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
 set MIXER quad_w
 
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance b/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
index 12796f4e86..c60c5ff64d 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
+++ b/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
@@ -32,15 +32,10 @@ param set-default BAT1_V_EMPTY 3.5
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.08
 param set-default MC_ROLLRATE_I 0.02
-param set-default MC_ROLLRATE_D 0.003
 param set-default MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.13
 param set-default MC_PITCHRATE_I 0.02
 param set-default MC_PITCHRATE_D 0.005
-param set-default MC_YAW_P 2.8
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
 
 param set-default MPC_XY_VEL_MAX 2
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
index c2b3679db3..1c57dfaa08 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
@@ -18,10 +18,8 @@ param set-default BAT1_N_CELLS 3
 
 param set-default COM_RC_IN_MODE 1
 
-param set-default EKF2_AID_MASK 1
 param set-default EKF2_ANGERR_INIT 0.01
 param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_HGT_MODE 0
 param set-default EKF2_MAG_TYPE 1
 
 param set-default FW_AIRSPD_MAX 25
diff --git a/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik b/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
index d2b4d45a83..0c1bba5f98 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
+++ b/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
@@ -36,9 +36,6 @@ param set-default MC_ROLLRATE_D 0.009
 param set-default MC_ROLLRATE_MAX 180
 
 param set-default MC_YAW_P 3
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
 
 param set-default MPC_HOLD_MAX_XY 0.25
 param set-default MPC_THR_MIN 0.15
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
index 6029d176ff..4a7b27a511 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
+++ b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
@@ -25,7 +25,6 @@
 
 
 param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
 
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
index 30b8c7111f..dec2111859 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
+++ b/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
@@ -24,20 +24,14 @@ param set-default MAV_TYPE 19
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.12
 param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0
 
 param set-default MC_PITCH_P 4.5
 param set-default MC_PITCHRATE_P 0.3
 param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0
 
 param set-default MC_YAW_P 3.8
 param set-default MC_YAWRATE_P 0.22
 param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
 
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_ELEV_MC_LOCK 0
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6 b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
index 8660126b12..27f85e0291 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
+++ b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
@@ -28,19 +28,13 @@ param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.19
 param set-default MC_ROLLRATE_I 0.002
 param set-default MC_ROLLRATE_D 0.005
-param set-default MC_ROLLRATE_FF 0
 param set-default MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.14
 param set-default MC_PITCHRATE_I 0.002
 param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_FF 0
 param set-default MC_YAW_P 4
 param set-default MC_YAWRATE_P 0.22
 param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
-
-param set-default PWM_MAIN_RATE 400
 
 param set-default VT_FW_MOT_OFFID 34
 param set-default VT_IDLE_PWM_MC 1080
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
index ea700ce084..b109fd9ba7 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
@@ -15,12 +15,10 @@
 
 
 param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
 
 param set-default VT_MOT_ID 1234
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
-param set-default VT_ELEV_MC_LOCK 1
 set MAV_TYPE 20
 
 set MIXER quad_x_vtol
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
index fdf9a3daf8..2e2f6ac4be 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
@@ -24,11 +24,9 @@
 
 
 param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
 
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
-param set-default VT_ELEV_MC_LOCK 1
 set MAV_TYPE 20
 
 set MIXER quad_+_vtol
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
index 03151f1426..699d039b8b 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
@@ -26,35 +26,24 @@
 
 param set-default PWM_AUX_DIS5 950
 
-param set-default PWM_MAIN_RATE 400
 
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.002
 param set-default MC_ROLLRATE_D 0.004
-param set-default MC_ROLLRATE_FF 0
 param set-default MC_PITCH_P 6
 param set-default MC_PITCHRATE_P 0.19
 param set-default MC_PITCHRATE_I 0.002
 param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.22
 param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
 param set-default MC_YAWRATE_MAX 40
 
 param set-default MPC_YAWRAUTO_MAX 40
 
-param set-default FW_PR_FF 0.5
 param set-default FW_PR_I 0.02
-param set-default FW_PR_IMAX 0.4
-param set-default FW_PR_P 0.08
 param set-default FW_RR_FF 0.6
 param set-default FW_RR_I 0.01
-param set-default FW_RR_IMAX 0.2
-param set-default FW_RR_P 0.05
 param set-default FW_THR_CRUISE 0.75
 
 param set-default VT_ARSP_BLEND 6
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta b/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
index b50ab35cbe..9e640846db 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
+++ b/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
@@ -22,21 +22,11 @@
 . ${R}etc/init.d/rc.vtol_defaults
 
 
-param set-default MC_ROLL_P 6.5
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.01
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 6.5
-param set-default MC_PITCHRATE_P 0.15
 param set-default MC_PITCHRATE_I 0.01
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0
 param set-default MC_YAW_P 3.5
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
+
+
 param set-default MC_YAWRATE_MAX 50
 
 param set-default MPC_XY_P 0.8
@@ -45,7 +35,6 @@ param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_YAWRAUTO_MAX 20
 
 param set-default PWM_AUX_DIS3 950
-param set-default PWM_MAIN_RATE 400
 
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad b/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
index 62ad1e71a3..ffd5a88607 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
@@ -15,26 +15,17 @@
 
 
 param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0
 param set-default MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.12
 param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.22
 param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
 param set-default MC_YAWRATE_MAX 40
 
 param set-default MPC_YAWRAUTO_MAX 40
 
 param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
 
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_MOT_ID 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger b/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
index a04b06f68a..41077bccf7 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
+++ b/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
@@ -15,44 +15,32 @@
 
 
 param set-default FW_THR_CRUISE 65
-param set-default FW_PR_P 0.08
-param set-default FW_PR_FF 0.5
-param set-default FW_RR_P 0.05
 param set-default FW_RR_FF 0.6
 
 param set-default MIS_YAW_TMT 10
 
 param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.1
 param set-default MC_ROLLRATE_D 0.004
-param set-default MC_ROLLRATE_FF 0
 param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.15
 param set-default MC_PITCHRATE_I 0.1
 param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_FF 0
 param set-default MC_YAW_P 3.5
 param set-default MC_YAWRATE_P 0.6
 param set-default MC_YAWRATE_I 0.04
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
 param set-default MC_YAWRATE_MAX 40
 
 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_Z_VEL_MAX_DN 1.5
-param set-default MPC_TKO_SPEED 1.5
 param set-default MPC_LAND_SPEED 0.8
 param set-default MPC_YAWRAUTO_MAX 40
 
 param set-default PWM_AUX_DIS5 950
 param set-default PWM_AUX_REV1 1
 param set-default PWM_AUX_REV2 1
-param set-default PWM_MAIN_RATE 400
 
 param set-default VT_ARSP_TRANS 15
 param set-default VT_ARSP_BLEND 8
-param set-default VT_B_TRANS_DUR 4
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_MOT_ID 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger b/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
index 47f0c98f41..099ba08069 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
+++ b/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
@@ -68,10 +68,8 @@ param set-default PWM_AUX_REV4    1
 
 param set-default PWM_AUX_DIS5 950
 
-param set-default PWM_MAIN_RATE 400
 
 param set-default VT_ARSP_TRANS   15
-param set-default VT_B_TRANS_DUR  4
 param set-default VT_F_TRANS_THR    0.6
 param set-default VT_IDLE_PWM_MC 1180
 param set-default VT_MOT_ID 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13010_claire b/ROMFS/px4fmu_common/init.d/airframes/13010_claire
index 5890fd4a67..18ae63b1c0 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13010_claire
+++ b/ROMFS/px4fmu_common/init.d/airframes/13010_claire
@@ -20,7 +20,6 @@ param set-default PWM_AUX_MIN 1000
 param set-default PWM_AUX_RATE 50
 
 param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
 
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 13
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
index 8c833c0c28..28a63dbcd8 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
+++ b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
@@ -32,22 +32,14 @@ param set-default FW_MAN_R_MAX 50
 param set-default FW_ACRO_X_MAX   270
 param set-default FW_ACRO_Y_MAX   270
 param set-default FW_ACRO_Z_MAX   180
-param set-default FW_PR_FF    0.5
-param set-default FW_PR_P 0.08
 param set-default FW_PSP_OFF  5
 param set-default FW_P_LIM_MAX    30
 param set-default FW_P_LIM_MIN    -30
-param set-default FW_P_RMAX_NEG   60
-param set-default FW_P_RMAX_POS   60
 param set-default FW_RR_FF    0.33
 param set-default FW_RR_P 0.11
-param set-default FW_YR_FF    0.3
-param set-default FW_YR_P 0.05
 
-param set-default MC_PITCHRATE_D  0.003
 param set-default MC_PITCHRATE_P  0.15
 param set-default MC_PITCH_P  6
-param set-default MC_ROLLRATE_D   0.003
 param set-default MC_ROLLRATE_P   0.15
 param set-default MC_ROLL_P   6
 param set-default MC_YAWRATE_MAX  120
@@ -57,9 +49,6 @@ param set-default MC_YAW_P    2.5
 param set-default MC_YAWRATE_P 0.3
 param set-default MPC_LAND_SPEED 1.2
 param set-default MPC_TKO_SPEED 2.5
-param set-default MPC_Z_VEL_MAX_UP 3
-
-param set-default PWM_MAIN_RATE 400
 
 param set-default SENS_BOARD_ROT 8
 
@@ -69,11 +58,8 @@ param set-default VT_F_TR_OL_TM   4
 param set-default VT_FW_DIFTHR_EN 1
 param set-default VT_FW_DIFTHR_SC 0.17
 param set-default VT_FW_MOT_OFFID 3
-param set-default VT_FW_PERM_STAB 0
 param set-default VT_IDLE_PWM_MC 1200
 param set-default VT_MOT_ID 123
-param set-default VT_TILT_FW  1
-param set-default VT_TILT_MC  0
 param set-default VT_TILT_TRANS   0.45
 param set-default VT_TRANS_MIN_TM 1.2
 param set-default VT_TRANS_P2_DUR 1.3
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
index bf0754147b..729a5f8665 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
@@ -69,23 +69,13 @@ param set-default LNDMC_ALT_MAX 9999
 param set-default LNDMC_XY_VEL_MAX 1
 param set-default LNDMC_Z_VEL_MAX 0.7
 
-param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.16
 param set-default MC_ROLLRATE_I 0.01
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0
 param set-default MC_ROLLRATE_MAX 80
-param set-default MC_PITCH_P 6.5
-param set-default MC_PITCHRATE_P 0.15
 param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0
 param set-default MC_PITCHRATE_MAX 80
 param set-default MC_YAW_P 3.5
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
+
 param set-default MC_YAWRATE_MAX 20
 param set-default MC_AIRMODE 1
 
@@ -109,7 +99,6 @@ param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TILTMAX_LND 25
 param set-default MPC_YAWRAUTO_MAX 20
 
-param set-default NAV_DLL_ACT 0
 param set-default NAV_LOITER_RAD 100
 
 param set-default PWM_AUX_DISARM 950
@@ -119,7 +108,6 @@ param set-default PWM_MAIN_DIS6 1500
 param set-default PWM_MAIN_DIS7 900
 param set-default PWM_MAIN_DIS8 900
 
-param set-default PWM_MAIN_RATE 400
 
 param set-default SENS_BOARD_ROT 18
 
@@ -133,13 +121,11 @@ param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_F_TRANS_THR 1
-param set-default VT_DWN_PITCH_MAX 8
+param set-default VT_PITCH_MIN 8
 param set-default VT_FW_QC_P 55
 param set-default VT_FW_QC_R 55
 param set-default VT_TRANS_MIN_TM 15
 param set-default VT_B_TRANS_DUR 8
-param set-default VT_WV_LND_EN 1
-param set-default VT_WV_LTR_EN 1
 param set-default VT_FWD_THRUST_SC 4
 param set-default VT_F_TRANS_DUR 1
 param set-default VT_IDLE_PWM_MC 1025
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
index a76c7c707a..fe6cd3bf87 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
+++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
@@ -29,14 +29,11 @@ param set-default FW_AIRSPD_MAX 30
 param set-default FW_AIRSPD_MIN 19
 param set-default FW_AIRSPD_TRIM 23
 param set-default FW_L1_R_SLEW_MAX 40
-param set-default FW_LND_EARLYCFG 1
 param set-default FW_MAN_P_MAX 30
-param set-default FW_PR_I 0.1
 param set-default FW_PSP_OFF 3
 param set-default FW_P_LIM_MAX 18
 param set-default FW_P_LIM_MIN -25
 param set-default FW_RLL_TO_YAW_FF 0.1
-param set-default FW_RR_I 0.1
 param set-default FW_RR_P 0.08
 param set-default FW_R_LIM 45
 param set-default FW_R_RMAX 50
@@ -46,22 +43,15 @@ param set-default FW_THR_SLEW_MAX 0.6
 param set-default FW_T_HRATE_FF 0
 param set-default FW_T_SINK_MAX 15
 param set-default FW_T_SINK_MIN 3
-param set-default FW_YR_I 0.1
 param set-default FW_YR_P 0.15
 
-param set-default IMU_GYRO_CUTOFF 40
-
 param set-default IMU_DGYRO_CUTOFF 15
-param set-default MC_PITCHRATE_I 0.2
 param set-default MC_PITCHRATE_MAX 60
-param set-default MC_ROLLRATE_I 0.2
 param set-default MC_ROLLRATE_MAX 60
 param set-default MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_MAX 40
 param set-default MC_YAWRATE_P 0.3
 
-param set-default MIS_TAKEOFF_ALT 30
-
 param set-default MPC_ACC_DOWN_MAX 2
 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_ACC_UP_MAX 3
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor b/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor
index e6595c74ff..06865b0f85 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor
+++ b/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor
@@ -27,7 +27,6 @@
 . ${R}etc/init.d/rc.vtol_defaults
 
 
-param set-default PWM_MAIN_RATE 400
 
 param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo b/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
index 6daf766136..37d92fe4e6 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
+++ b/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
@@ -27,7 +27,6 @@
 
 
 param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
 
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 12345678
diff --git a/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli b/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
index 3113c8cc41..c1d8ed37c3 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
+++ b/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
@@ -20,28 +20,19 @@
 set MIXER coax
 
 
-param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_ROLLRATE_D 0.005
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 6.5
 param set-default MC_PITCHRATE_P 0.17
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.005
-param set-default MC_PITCHRATE_FF 0
 param set-default MC_YAW_P 2
 param set-default MC_YAWRATE_P 0.1
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
 
 param set-default NAV_ACC_RAD 2
 
 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_DISARM 900
-param set-default PWM_MAIN_MIN 1075
-param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_RATE 400
 
 param set-default RTL_RETURN_ALT 30
diff --git a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
index 0367a747a8..db8a761429 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
+++ b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
@@ -36,7 +36,6 @@ param set-default MC_ROLLRATE_P 0
 param set-default MC_ROLLRATE_I 0
 param set-default MC_ROLLRATE_D 0
 param set-default MC_ROLLRATE_FF 0.15
-param set-default MC_PITCH_P 6.5
 param set-default MC_PITCHRATE_P 0
 param set-default MC_PITCHRATE_I 0
 param set-default MC_PITCHRATE_D 0
@@ -44,7 +43,6 @@ param set-default MC_PITCHRATE_FF 0.15
 param set-default MC_YAW_P 3
 param set-default MC_YAWRATE_P 0.1
 param set-default MC_YAWRATE_I 0
-param set-default MC_YAWRATE_D 0
 param set-default MC_ROLLRATE_MAX 720
 param set-default MC_PITCHRATE_MAX 720
 param set-default MC_YAWRATE_MAX 400
diff --git a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 b/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
index 89ea3009ee..53989028fd 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
+++ b/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
@@ -25,7 +25,6 @@ param set-default MAV_0_CONFIG 102
 param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600
 
-param set-default SENS_BOARD_ROT 0
 set MAV_TYPE 8
 param set MAV_TYPE ${MAV_TYPE}
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/2105_maja b/ROMFS/px4fmu_common/init.d/airframes/2105_maja
index eda8c12d64..026a0c3043 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2105_maja
+++ b/ROMFS/px4fmu_common/init.d/airframes/2105_maja
@@ -25,10 +25,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 15
-param set-default FW_AIRSPD_MAX 20
-
 param set-default FW_MAN_P_MAX 55
 param set-default FW_MAN_R_MAX 55
 param set-default FW_R_LIM 55
diff --git a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
index 7639f0b2d2..47ed0c677b 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
+++ b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
@@ -25,10 +25,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 15
-param set-default FW_AIRSPD_MAX 20
-
 param set-default FW_MAN_P_MAX 55
 param set-default FW_MAN_R_MAX 55
 param set-default FW_R_LIM 55
diff --git a/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon b/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
index 1f4825048f..8fbe544c5b 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
+++ b/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
@@ -26,10 +26,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 15
-param set-default FW_AIRSPD_MAX 20
-
 param set-default FW_MAN_P_MAX 55
 param set-default FW_MAN_R_MAX 55
 param set-default FW_R_LIM 55
diff --git a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
index 1e724f70b8..f2e9813e86 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
+++ b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
@@ -36,8 +36,6 @@ param set-default PWM_AUX_DISARM 900
 param set-default PWM_AUX_MIN 1075
 param set-default PWM_AUX_MAX 1950
 
-param set-default PWM_MAIN_MIN 1075
-param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_RATE 400
 
 param set-default RTL_DESCEND_ALT 10
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
index d902b960eb..880ac06f01 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
+++ b/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
@@ -22,7 +22,6 @@
 . ${R}etc/init.d/rc.fw_defaults
 
 param set-default FW_AIRSPD_MAX 15
-param set-default FW_AIRSPD_MIN 10
 param set-default FW_AIRSPD_TRIM 13
 param set-default FW_R_TC 0.3
 param set-default FW_P_TC 0.3
@@ -30,15 +29,11 @@ param set-default FW_L1_DAMPING 0.74
 param set-default FW_L1_PERIOD 16
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
 param set-default FW_LND_HVIRT 13
 param set-default FW_LND_TLALT 5
 param set-default FW_THR_LND_MAX 0
 param set-default FW_PR_FF 0.35
-param set-default FW_PR_IMAX 0.4
-param set-default FW_PR_P 0.08
 param set-default FW_RR_FF 0.6
-param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.04
 
 param set-default PWM_MAIN_DISARM 1000
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3031_phantom b/ROMFS/px4fmu_common/init.d/airframes/3031_phantom
index 4a2af43dcc..b31b2230ce 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3031_phantom
+++ b/ROMFS/px4fmu_common/init.d/airframes/3031_phantom
@@ -24,20 +24,15 @@
 . ${R}etc/init.d/rc.fw_defaults
 
 param set-default FW_AIRSPD_MIN 13
-param set-default FW_AIRSPD_TRIM 15
 param set-default FW_AIRSPD_MAX 25
 param set-default FW_R_TC 0.3
 param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.75
 param set-default FW_L1_PERIOD 15
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_IMAX 0.2
 param set-default FW_PR_P 0.03
 param set-default FW_P_LIM_MAX 50
 param set-default FW_P_LIM_MIN -50
-param set-default FW_P_ROLLFF 1
-param set-default FW_RR_FF 0.5
-param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.08
 param set-default FW_R_LIM 50
 param set-default FW_R_RMAX 50
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5
index 8ea3dc7d3a..d88cb83e38 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5
+++ b/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5
@@ -30,7 +30,6 @@ param set-default FW_L1_DAMPING 0.74
 param set-default FW_L1_PERIOD 16
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
 param set-default FW_LND_HVIRT 13
 param set-default FW_LND_TLALT 5
 param set-default FW_THR_LND_MAX 0
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing b/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
index 8d2f5f1f1b..453d82346d 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
+++ b/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
@@ -25,7 +25,6 @@
 
 param set-default BAT1_N_CELLS 2
 param set-default FW_AIRSPD_MAX 15
-param set-default FW_AIRSPD_MIN 10
 param set-default FW_AIRSPD_TRIM 13
 param set-default FW_R_TC 0.3
 param set-default FW_P_TC 0.3
@@ -33,7 +32,6 @@ param set-default FW_L1_DAMPING 0.74
 param set-default FW_L1_PERIOD 16
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
 param set-default FW_LND_HVIRT 13
 param set-default FW_LND_TLALT 5
 param set-default FW_THR_LND_MAX 0
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3034_fx79 b/ROMFS/px4fmu_common/init.d/airframes/3034_fx79
index 57fe7d625d..c1a040febb 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3034_fx79
+++ b/ROMFS/px4fmu_common/init.d/airframes/3034_fx79
@@ -23,7 +23,6 @@
 
 param set-default FW_AIRSPD_MAX 30
 param set-default FW_AIRSPD_MIN 13
-param set-default FW_AIRSPD_TRIM 15
 
 param set-default NAV_LOITER_RAD 150
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon b/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
index 5a11ecd3d0..b889f38db9 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
+++ b/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
@@ -27,17 +27,11 @@ param set-default FW_AIRSPD_MIN 15
 param set-default FW_AIRSPD_TRIM 20
 param set-default FW_AIRSPD_MAX 27
 param set-default FW_ATT_TC 0.3
-param set-default FW_L1_DAMPING 0.75
-param set-default FW_L1_PERIOD 20
 param set-default FW_PR_FF 0.35
 param set-default FW_PR_IMAX 0.2
 param set-default FW_PR_P 0.05
-param set-default FW_P_LIM_MAX 45
-param set-default FW_P_LIM_MIN -45
-param set-default FW_P_ROLLFF 1
 param set-default FW_P_TC 0.3
 param set-default FW_RR_FF 0.3
-param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.03
 param set-default FW_R_LIM 40
 param set-default FW_R_RMAX 50
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod b/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod
index 648b4db5ca..c117dba116 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod
+++ b/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod
@@ -26,38 +26,15 @@
 ####################################
 # Airspeed
 ####################################
-param set-default FW_AIRSPD_MIN  15 # = 29 knots
-param set-default FW_AIRSPD_TRIM 20 # = 39 knots
 param set-default FW_AIRSPD_MAX  27 # = 52 knots
 
-####################################
-# The Main L1 Controller
-####################################
-param set-default FW_L1_PERIOD 20 #units of meters
-
-# Damping factor for L1 control (def = 0.75)
-param set-default FW_L1_DAMPING 0.75
-
 ####################################
 # Pitch
 ####################################
 
-# Basic limits (def = +/- 45 deg)
-param set-default FW_P_LIM_MAX  45
-param set-default FW_P_LIM_MIN -45
-
-# Time Constant (def = 0.4s)
-param set-default FW_P_TC 0.4
-
 # Pitch rate feed forward (def = 0.5 %/rad/sec)
 param set-default FW_PR_FF 0.35
 
-# Pitch rate integrator limit (def = 0.4)
-param set-default FW_PR_IMAX 0.4
-
-# Pitch rate proportional gain (def = 0.08 %/rad/sec)
-param set-default FW_PR_P 0.08
-
 ####################################
 # Roll
 ####################################
@@ -68,21 +45,8 @@ param set-default FW_R_LIM 40
 # Roll rate upper limit (def = 70 deg/s)
 param set-default FW_R_RMAX 50
 
-# Roll Time Constant (def = 0.4 s)
-param set-default FW_R_TC 0.4
-
-# Roll rate feed forward (def = 0.5 %/rad/sec)
-param set-default FW_RR_FF 0.5
-
-# Roll rate proportional Gain (def = 0.05 %/rad/sec)
-param set-default FW_RR_P 0.05
-
-# Roll Integrator Anti-Windup
-param set-default FW_RR_IMAX 0.2
-
 param set-default PWM_MAIN_DISARM 1000
 
-
 set MIXER fw_generic_wing.main.mix
 
 # Provide ESC a constant 1000 us pulse
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
index 5e3b6e9845..3fc962c9ef 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
+++ b/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
@@ -25,24 +25,18 @@
 param set-default FW_AIRSPD_MAX 25
 param set-default FW_AIRSPD_MIN 12.5
 param set-default FW_AIRSPD_TRIM 16.5
-param set-default FW_L1_DAMPING 0.75
 param set-default FW_L1_PERIOD 15
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 8
-param set-default FW_LND_HHDIST 15
 param set-default FW_LND_HVIRT 13
 param set-default FW_LND_TLALT 10
 param set-default FW_THR_LND_MAX 0
 param set-default FW_P_LIM_MAX 20
 param set-default FW_P_LIM_MIN -30
 param set-default FW_R_LIM 45
-param set-default FW_R_TC 0.4
-param set-default FW_P_TC 0.4
 param set-default FW_PR_FF 0.45
-param set-default FW_PR_IMAX 0.4
 param set-default FW_PR_P 0.005
 param set-default FW_RR_FF 0.45
-param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.013
 param set-default FW_P_RMAX_NEG 70
 param set-default FW_P_RMAX_POS 70
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5 b/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
index ef87133ba2..4638e92a54 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
+++ b/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
@@ -20,15 +20,9 @@ set PWM_OUT 1234
 param set-default MC_ROLL_P 8
 param set-default MC_ROLLRATE_P 0.08
 param set-default MC_ROLLRATE_I 0.16
-param set-default MC_ROLLRATE_D 0.003
 param set-default MC_PITCH_P 8
 param set-default MC_PITCHRATE_P 0.1
-param set-default MC_PITCHRATE_I 0.2
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.15
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
 
 param set-default MPC_THR_MIN 0.06
 param set-default MPC_MANTHR_MIN 0.06
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4009_qav250 b/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
index 588d735c36..c3ecf7207e 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
@@ -33,7 +33,6 @@ param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 4
 param set-default MC_YAWRATE_P 0.3
 param set-default MC_YAWRATE_I 0.2
-param set-default MC_YAWRATE_D 0
 param set-default MPC_THR_MIN 0.06
 
 param set-default PWM_MAIN_MIN 1075
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
index ff86a66f53..5036383320 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
@@ -15,17 +15,10 @@ set MIXER quad_x
 set PWM_OUT 1234
 
 param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.003
 param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.15
 param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_YAW_P 2.8
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
+
 
 # DJI ESCs do not support calibration and need a higher min
 param set-default PWM_MAIN_MIN 1230
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
index 9aa4c79eb2..9697ba2038 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
@@ -14,17 +14,10 @@ set MIXER quad_x
 set PWM_OUT 1234
 
 param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.003
 param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.15
 param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.3
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
 
 # DJI ESCs do not support calibration and need a higher min
 param set-default PWM_MAIN_MIN 1230
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4014_s500 b/ROMFS/px4fmu_common/init.d/airframes/4014_s500
index 72629b75e6..cbb1dcfbd6 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4014_s500
+++ b/ROMFS/px4fmu_common/init.d/airframes/4014_s500
@@ -21,5 +21,3 @@ param set-default MC_ROLLRATE_P 0.18
 param set-default MC_PITCHRATE_P 0.18
 param set-default MC_ROLLRATE_I 0.15
 param set-default MC_PITCHRATE_I 0.15
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_PITCHRATE_D 0.003
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500 b/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
index 62d2fe9c98..f1b79db664 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
+++ b/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
@@ -18,7 +18,6 @@ set PWM_OUT 1234
 
 
 param set-default IMU_GYRO_CUTOFF 30
-param set-default IMU_DGYRO_CUTOFF 30
 
 param set-default MC_ROLLRATE_P 0.14
 param set-default MC_PITCHRATE_P 0.14
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
index 2ea10ead55..46e9074065 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
+++ b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
@@ -33,7 +33,6 @@ param set-default EKF2_AID_MASK 35
 param set-default EKF2_IMU_POS_X 0.02
 param set-default EKF2_GPS_POS_X 0.055
 param set-default EKF2_GPS_POS_Z -0.15
-param set-default EKF2_HGT_MODE 0
 param set-default EKF2_MIN_RNG 0.03
 param set-default EKF2_OF_POS_X 0.055
 param set-default EKF2_OF_POS_Y 0.02
@@ -41,7 +40,6 @@ param set-default EKF2_OF_POS_Z 0.065
 param set-default EKF2_REQ_HDRIFT 0.3
 param set-default EKF2_REQ_SACC 1
 param set-default EKF2_REQ_VDRIFT 0.3
-param set-default EKF2_RNG_AID 1
 param set-default EKF2_RNG_A_HMAX 8
 param set-default EKF2_RNG_A_VMAX 2
 param set-default EKF2_RNG_POS_X 0.055
@@ -66,15 +64,8 @@ param set-default MC_ACRO_R_MAX 200
 param set-default MC_ACRO_SUPEXPO 0
 param set-default MC_ACRO_SUPEXPOY 0
 param set-default MC_ACRO_Y_MAX 150
-param set-default IMU_DGYRO_CUTOFF 30
 param set-default MC_PITCHRATE_D 0.0015
-param set-default MC_PITCHRATE_I 0.2
-param set-default MC_PITCHRATE_K 1
-param set-default MC_PITCHRATE_P 0.15
 param set-default MC_ROLLRATE_D 0.0015
-param set-default MC_ROLLRATE_I 0.2
-param set-default MC_ROLLRATE_K 1
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_YAWRATE_P 0.3
 
 # Position Control Tuning
@@ -86,7 +77,6 @@ param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_Y_MAX 120
 param set-default MPC_TILTMAX_AIR 45
 param set-default MPC_THR_HOVER 0.3
-param set-default MPC_THR_MIN 0.12
 param set-default MPC_TKO_SPEED 1
 param set-default MPC_VEL_MANUAL 5
 param set-default MPC_XY_CRUISE 5
@@ -102,23 +92,17 @@ param set-default MPC_LAND_ALT2 1
 # Navigator Parameters
 param set-default NAV_ACC_RAD 2
 
-# PWM and RC Parameters
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1075
-
 # use oneshot motor output protocol
 param set-default PWM_MAIN_RATE 0
 
 # RTL Parameters
 param set-default RTL_DESCEND_ALT 5
 param set-default RTL_RETURN_ALT 5
-param set-default RTL_CONE_ANG 45
 
 # Logging Parameters
 param set-default SDLOG_PROFILE 131
 
 # Sensors Parameters
-param set-default SENS_BOARD_ROT 0
 param set-default SENS_CM8JL65_CFG 104
 param set-default SENS_FLOW_MAXHGT 25
 param set-default SENS_FLOW_MINHGT 0.5
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames b/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
index d28edc165e..efb3e0adc0 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
+++ b/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
@@ -21,13 +21,10 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-param set-default IMU_GYRO_CUTOFF 40
 param set-default IMU_DGYRO_CUTOFF 20
 
 param set-default MC_ROLLRATE_P 0.18
 param set-default MC_ROLLRATE_I 0.15
-param set-default MC_ROLLRATE_D 0.003
 
 param set-default MC_PITCHRATE_P 0.18
 param set-default MC_PITCHRATE_I 0.15
-param set-default MC_PITCHRATE_D 0.003
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad b/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
index 405627f40a..1339f8824c 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
@@ -16,8 +16,6 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-
-param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.14
 param set-default MC_ROLLRATE_I 0.1
 param set-default MC_ROLLRATE_D 0.004
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper b/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
index 9d3229bd07..49f64f2d28 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
+++ b/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
@@ -20,8 +20,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
-param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.14
 param set-default MC_ROLLRATE_I 0.1
 param set-default MC_ROLLRATE_D 0.004
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
index 0837d6f783..9d82e9fa1e 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
@@ -22,12 +22,9 @@ param set-default MC_ROLLRATE_I 0.25
 param set-default MC_ROLLRATE_D 0.001
 param set-default MC_PITCH_P 8
 param set-default MC_PITCHRATE_P 0.08
-param set-default MC_PITCHRATE_I 0.25
 param set-default MC_PITCHRATE_D 0.001
 param set-default MC_YAW_P 4
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
+
 
 param set-default MC_ROLLRATE_MAX 1600
 param set-default MC_PITCHRATE_MAX 1600
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq b/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
index 40230bb59b..fe7e3322bf 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
+++ b/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
@@ -41,9 +41,8 @@ param set-default MC_PITCHRATE_P 0.19
 param set-default MC_PITCHRATE_I 0.1
 param set-default MC_PITCHRATE_D 0.0055
 param set-default MC_YAW_P 4
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
+
+
 param set-default MC_ROLLRATE_MAX 720
 param set-default MC_PITCHRATE_MAX 720
 param set-default MC_YAWRATE_MAX 400
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
index de345b66d9..d2c26f373c 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
@@ -48,7 +48,6 @@ param set-default MPC_THR_HOVER 0.25
 param set-default MPC_THR_MIN 0.05
 param set-default MPC_Z_VEL_I_ACC 1.7
 
-param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_MIN 1050
 
 param set-default PWM_MAIN_RATE 0
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100 b/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
index 74d48f45c6..837ede54c1 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
+++ b/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
@@ -19,16 +19,13 @@ set PWM_OUT 1234
 
 param set-default BAT1_N_CELLS 6
 
-param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.05
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_ROLLRATE_D 0.001
-param set-default MC_PITCH_P 6.5
 param set-default MC_PITCHRATE_P 0.05
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.001
-param set-default MC_YAWRATE_P 0.2
+
 param set-default MC_YAWRATE_I 0
-param set-default MC_YAWRATE_D 0
 
 param set-default PWM_MAIN_MIN 1200
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu b/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
index 0c6fb7b0ec..df57c387c8 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
+++ b/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
@@ -22,7 +22,6 @@ set MIXER_AUX none
 
 # Battery settings
 param set-default BAT_CRIT_THR 0.20
-param set-default BAT_EMERGEN_THR 0.05
 param set-default BAT_LOW_THR 0.25
 
 param set-default BAT1_CAPACITY 2800.0
@@ -35,7 +34,6 @@ param set-default CBRK_SUPPLY_CHK 894281
 
 param set-default COM_DISARM_LAND 0.1
 param set-default COM_DISARM_PRFLT 3
-param set-default COM_DL_LOSS_T 10
 param set-default COM_FLTMODE1 -1
 param set-default COM_FLTMODE2 -1
 param set-default COM_FLTMODE3 -1
@@ -43,7 +41,6 @@ param set-default COM_FLTMODE4  2
 param set-default COM_FLTMODE5 -1
 param set-default COM_FLTMODE6  6
 param set-default COM_RC_LOSS_T 3
-param set-default COM_RC_OVERRIDE 1
 
 
 # ekf2
@@ -61,8 +58,6 @@ param set-default EKF2_GPS_POS_Z 0.0
 param set-default EKF2_GPS_V_NOISE 0.5
 
 param set-default EKF2_IMU_POS_X 0.06
-param set-default EKF2_IMU_POS_Y 0.0
-param set-default EKF2_IMU_POS_Z 0.0
 
 param set-default EKF2_MAG_DELAY 0
 param set-default EKF2_MAG_NOISE 0.1
@@ -79,7 +74,6 @@ param set-default EKF2_PCOEF_XN -0.3
 param set-default EKF2_PCOEF_XP -0.4
 param set-default EKF2_PCOEF_YN -0.4
 param set-default EKF2_PCOEF_YP -0.4
-param set-default EKF2_PCOEF_Z 0.0
 
 param set-default EKF2_RNG_A_VMAX 1.0
 param set-default EKF2_RNG_AID 0
@@ -119,7 +113,6 @@ param set-default MC_ROLL_P 8.0
 
 # Yaw angle & rate setting
 param set-default MC_YAWRATE_P 0.1
-param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_MAX 120.0
 param set-default MC_YAW_P 2.5
 
@@ -145,7 +138,6 @@ param set-default MPC_Z_P 2.0
 param set-default MPC_Z_VEL_D 0.0
 param set-default MPC_Z_VEL_I 0.02
 param set-default MPC_Z_VEL_MAX_DN 2.0
-param set-default MPC_Z_VEL_MAX_UP 3.0
 param set-default MPC_Z_VEL_P 0.27
 
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
index 4a044939d0..c2b2668a25 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
+++ b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
@@ -27,15 +27,11 @@ set PWM_OUT 1234
 
 
 # Attitude & rate gains
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_D 0.0013
 
-param set-default MC_PITCHRATE_P 0.15
 param set-default MC_PITCHRATE_D 0.0016
 
-param set-default MC_YAW_P 2.8
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_D 0
+
 param set-default MC_YAW_FF 0.5
 
 param set-default MPC_MANTHR_MAX 0.9
@@ -46,7 +42,6 @@ param set-default IMU_DGYRO_CUTOFF 90
 param set-default IMU_GYRO_CUTOFF 100
 
 # System
-param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_MIN 1100
 param set-default PWM_MAIN_RATE 0
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4072_draco b/ROMFS/px4fmu_common/init.d/airframes/4072_draco
index 2c85cd642b..030314cd36 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4072_draco
+++ b/ROMFS/px4fmu_common/init.d/airframes/4072_draco
@@ -65,7 +65,6 @@ param set-default MPC_THR_HOVER 0.25
 param set-default THR_MDL_FAC 0.3
 
 # System
-param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_MIN 1180
 
 # enable one-shot
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
index 2d054b4b4c..d04238b0fd 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
+++ b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
@@ -27,15 +27,10 @@ set PWM_OUT 1234
 
 
 # Attitude & rate gains
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_D 0.0013
 
-param set-default MC_PITCHRATE_P 0.15
 param set-default MC_PITCHRATE_D 0.0016
 
-param set-default MC_YAW_P 2.8
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_D 0
 
 param set-default MPC_MANTHR_MIN 0.08
 
@@ -57,7 +52,6 @@ param set-default EKF2_AID_MASK 3
 param set-default EKF2_GND_EFF_DZ 6
 param set-default EKF2_HGT_MODE 1
 param set-default EKF2_MIN_RNG 0.3
-param set-default EKF2_RNG_AID 1
 
 # Flow
 param set-default EKF2_OF_QMIN 70
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250 b/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
index ceaa283622..1a4ad19fbb 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
@@ -21,23 +21,18 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default MC_ROLL_P 2.2
 param set-default MC_ROLLRATE_P 0.06
-param set-default MC_ROLLRATE_I 0.2
 param set-default MC_ROLLRATE_D 0.0017
 
 param set-default MC_PITCH_P 2.2
 param set-default MC_PITCHRATE_P 0.06
-param set-default MC_PITCHRATE_I 0.2
 param set-default MC_PITCHRATE_D 0.0017
 
 param set-default MC_YAW_P 1
 param set-default MC_YAWRATE_P 0.15
 param set-default MC_YAWRATE_I 0.2
-param set-default MC_YAWRATE_D 0
 
 param set-default MC_ACRO_R_MAX 1000
 param set-default MC_ACRO_P_MAX 1000
 param set-default MC_ACRO_Y_MAX 1000
 
-param set-default PWM_MAIN_MIN 1075
-param set-default PWM_MAIN_RATE 400
 param set-default PWM_MAIN_DISARM 900
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind b/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
index 5159a4b0c9..e265159a6d 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
+++ b/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
@@ -32,9 +32,6 @@ param set-default MC_PITCHRATE_P 0.19
 param set-default MC_PITCHRATE_I 0.1
 param set-default MC_PITCHRATE_D 0.0055
 param set-default MC_YAW_P 4
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
 
 param set-default PWM_MAIN_DISARM 0
 param set-default PWM_MAIN_MIN 500
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4250_teal b/ROMFS/px4fmu_common/init.d/airframes/4250_teal
index 60b2458413..39b14e291c 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4250_teal
+++ b/ROMFS/px4fmu_common/init.d/airframes/4250_teal
@@ -47,7 +47,6 @@ param set-default BAT1_V_OFFS_CURR -0.0045
 
 # sensor calibration
 param set-default CAL_MAG_SIDES 63
-param set-default SENS_BOARD_ROT 0
 
 # circuit breakers
 param set-default CBRK_IO_SAFETY 22027
@@ -59,21 +58,16 @@ param set-default COM_DISARM_LAND 0.1
 param set-default COM_LOW_BAT_ACT 3
 
 # ekf2
-param set-default EKF2_AID_MASK 1
 param set-default EKF2_MAG_TYPE 1
 param set-default EKF2_GPS_CHECK 511
 param set-default EKF2_GPS_POS_X -0.04
 param set-default EKF2_IMU_POS_X -0.06
 param set-default EKF2_PCOEF_XN 0.1
 param set-default EKF2_PCOEF_XP -0.5
-param set-default EKF2_RNG_AID 1
 param set-default EKF2_RNG_A_VMAX 20
 param set-default EKF2_RNG_NOISE 0.2
 param set-default EKF2_MIN_RNG 0.07
 
-# gps
-param set-default GPS_UBX_DYNMODEL 7
-
 # geofence
 # Geofence violation action -- Warning.
 param set-default GF_ACTION 1
@@ -103,20 +97,17 @@ param set-default MC_ACRO_Y_MAX 360
 
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.055
-param set-default MC_ROLLRATE_I 0.2
 param set-default MC_ROLLRATE_D 0.0012
 param set-default MC_ROLLRATE_MAX 180
 
-param set-default MC_PITCH_P 6.5
 param set-default MC_PITCHRATE_P 0.06
-param set-default MC_PITCHRATE_I 0.2
 param set-default MC_PITCHRATE_D 0.0012
 param set-default MC_PITCHRATE_MAX 180
 
 param set-default MC_YAW_P 1
 param set-default MC_YAWRATE_P 0.08
 param set-default MC_YAWRATE_I 0.08
-param set-default MC_YAWRATE_D 0
+
 param set-default MC_YAWRATE_MAX 180
 
 # Set to reduce voltage transients as seen by battery management system.
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
index 9ce7a49f5a..7723f11a84 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
+++ b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
@@ -39,13 +39,9 @@ param set-default IMU_ACCEL_CUTOFF 30
 param set-default MC_AIRMODE 1
 param set-default IMU_DGYRO_CUTOFF 70
 param set-default MC_PITCHRATE_D 0.002
-param set-default MC_PITCHRATE_I 0.2
 param set-default MC_PITCHRATE_P 0.07
-param set-default MC_PITCH_P 6.5
 param set-default MC_ROLLRATE_D 0.002
-param set-default MC_ROLLRATE_I 0.2
 param set-default MC_ROLLRATE_P 0.07
-param set-default MC_ROLL_P 6.5
 param set-default MC_YAW_P 3
 
 param set-default MPC_THR_HOVER 0.7
@@ -65,8 +61,6 @@ param set-default PWM_MAIN_MAX 255
 # Run the motors at 328.125 kHz (recommended)
 param set-default PWM_MAIN_RATE 3921
 
-param set-default SDLOG_PROFILE 1
-
 param set-default SENS_FLOW_MINRNG 0.05
 
 set PWM_MAIN_DISARM none
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
index 54165f7577..690b27611a 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
+++ b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
@@ -37,13 +37,9 @@ param set-default IMU_ACCEL_CUTOFF 30
 param set-default MC_AIRMODE 1
 param set-default IMU_DGYRO_CUTOFF 70
 param set-default MC_PITCHRATE_D 0.002
-param set-default MC_PITCHRATE_I 0.2
 param set-default MC_PITCHRATE_P 0.07
-param set-default MC_PITCH_P 6.5
 param set-default MC_ROLLRATE_D 0.002
-param set-default MC_ROLLRATE_I 0.2
 param set-default MC_ROLLRATE_P 0.07
-param set-default MC_ROLL_P 6.5
 param set-default MC_YAW_P 3
 
 param set-default MPC_THR_HOVER 0.7
@@ -63,8 +59,6 @@ param set-default PWM_MAIN_MAX 255
 # Run the motors at 328.125 kHz (recommended)
 param set-default PWM_MAIN_RATE 3921
 
-param set-default SDLOG_PROFILE 1
-
 param set-default SENS_FLOW_MINRNG 0.05
 
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
index 25071ba9d7..45453ab781 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
+++ b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
@@ -15,7 +15,6 @@
 
 
 #Set data link loss failsafe mode (0: disabled)
-param set-default NAV_DLL_ACT 0
 
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
diff --git a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
index 9bd46a8908..9a025bdaca 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
+++ b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
@@ -15,7 +15,6 @@
 
 
 #Set data link loss failsafe mode (0: disabled)
-param set-default NAV_DLL_ACT 0
 
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
diff --git a/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy b/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy
index 69384284be..e49c74591e 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy
+++ b/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy
@@ -24,7 +24,6 @@
 
 
 #Set data link loss failsafe mode (0: disabled)
-param set-default NAV_DLL_ACT 0
 
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
diff --git a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
index 8be6345a9e..584c3b447c 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
+++ b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
@@ -34,23 +34,14 @@ set PWM_OUT 12345678
 # Attitude & rate gains
 ###############################################
 # Roll
-param set-default MC_ROLL_P 6.5
-param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_ROLLRATE_D 0.0013
 param set-default MC_ROLLRATE_MAX 800
 # Pitch
-param set-default MC_PITCH_P 6.5
-param set-default MC_PITCHRATE_P 0.15
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.0016
 param set-default MC_PITCHRATE_MAX 800
 # Yaw
-param set-default MC_YAW_P 2.8
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAW_FF 0
 param set-default MC_YAWRATE_MAX 700
 
 ###############################################
@@ -70,7 +61,6 @@ param set-default MPC_XY_VEL_I_ACC 0.4
 param set-default MPC_XY_VEL_D_ACC 0.2
 # etc gains
 param set-default MPC_TKO_RAMP_T 0.4
-param set-default MPC_TKO_SPEED 1.5
 param set-default MPC_VEL_MANUAL 5
 
 # Filter settings
@@ -81,7 +71,6 @@ param set-default IMU_GYRO_CUTOFF 100
 param set-default THR_MDL_FAC 0.25
 
 # System
-param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_MIN 1100
 param set-default PWM_MAIN_DIS5 980
 param set-default PWM_MAIN_DIS6 980
@@ -97,8 +86,6 @@ param set-default MIS_TAKEOFF_ALT 1.1
 # Height mode as GPS
 param set-default EKF2_HGT_MODE 1
 # Enable optical flow and GPS
-param set-default EKF2_AID_MASK 1
-param set-default EKF2_RNG_AID 1
 param set-default EKF2_MAG_TYPE 1
 param set-default EKF2_OF_QMIN 80
 
diff --git a/ROMFS/px4fmu_common/init.d/rc.boat_defaults b/ROMFS/px4fmu_common/init.d/rc.boat_defaults
index 54bb4d0ccd..63325c2f8b 100644
--- a/ROMFS/px4fmu_common/init.d/rc.boat_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.boat_defaults
@@ -13,7 +13,6 @@ set VEHICLE_TYPE rover
 param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 
-param set-default NAV_DLL_ACT 0
 param set-default NAV_ACC_RAD 2
 
 # Temporary.
diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_defaults b/ROMFS/px4fmu_common/init.d/rc.rover_defaults
index 26db6d098c..e1282549b0 100644
--- a/ROMFS/px4fmu_common/init.d/rc.rover_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.rover_defaults
@@ -13,7 +13,6 @@ set VEHICLE_TYPE rover
 param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 
-param set-default NAV_DLL_ACT 0
 param set-default NAV_ACC_RAD 2
 param set-default NAV_LOITER_RAD 2