diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 29a1db04e6..2008a56440 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -31,12 +31,6 @@ then
 	adc start
 fi
 
-if ver hwcmp GUMSTIX_AEROCORE2
-then
-	l3gd20 -R 12 start
-	lsm303d start
-fi
-
 if ver hwcmp BITCRAZE_CRAZYFLIE
 then
 	# Onboard I2C
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 22a070ac3f..7d9e0be12e 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -225,11 +225,6 @@ else
 		sh $BOARD_RC
 	fi
 
-	if ver hwcmp GUMSTIX_AEROCORE2
-	then
-		set DATAMAN_OPT "-f /fs/mtd_dataman"
-	fi
-
 	if ver hwcmp BITCRAZE_CRAZYFLIE
 	then
 		if param compare SYS_AUTOSTART 0
diff --git a/boards/gumstix/aerocore2/init/rc.board b/boards/gumstix/aerocore2/init/rc.board
new file mode 100644
index 0000000000..3e75111185
--- /dev/null
+++ b/boards/gumstix/aerocore2/init/rc.board
@@ -0,0 +1,20 @@
+#!nsh
+#
+# Gumstix Aerocore2 specific board init
+#
+#------------------------------------------------------------------------------
+#
+
+if [ $AUTOCNF = yes ]
+then
+	# Disable safety switch by default
+	param set CBRK_IO_SAFETY 22027
+
+	param set SYS_FMU_TASK 1
+fi
+
+set DATAMAN_OPT "-f /fs/mtd_dataman"
+set MIXER_AUX none
+
+l3gd20 -R 12 start
+lsm303d start