diff --git a/ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol
index 558737b296..b906754dd1 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol
+++ b/ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol
@@ -35,7 +35,8 @@ then
 	param set VT_F_TRANS_DUR 5
 	param set VT_F_TRANS_THR 0.75
 	param set VT_ARSP_TRANS 16
-	param set VT_MOT_COUNT 4
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
 	param set VT_TYPE 2
 
 fi
diff --git a/ROMFS/px4fmu_common/init.d-posix/1041_tailsitter b/ROMFS/px4fmu_common/init.d-posix/1041_tailsitter
index 6128bce38e..3c6856788d 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1041_tailsitter
+++ b/ROMFS/px4fmu_common/init.d-posix/1041_tailsitter
@@ -35,7 +35,6 @@ then
 
 	param set VT_F_TRANS_DUR 1.5
 	param set VT_F_TRANS_THR 0.7
-	param set VT_MOT_COUNT 0
 	param set VT_TYPE 0
 
 fi
diff --git a/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor
index 2a05fd6872..3749ec2c03 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor
+++ b/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor
@@ -35,7 +35,6 @@ then
 
 	param set VT_F_TRANS_DUR 1.5
 	param set VT_F_TRANS_THR 0.75
-	param set VT_MOT_COUNT 4
 	param set VT_TILT_FW 3.1415
 	param set VT_TILT_TRANS 1.2
 	param set VT_ELEV_MC_LOCK 0
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 62b674af24..0f5a6c24f4 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
@@ -58,7 +58,8 @@ then
 	param set SYS_RESTART_TYPE 2
 
 	param set VT_F_TRANS_THR 0.75
-	param set VT_MOT_COUNT 4
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
 	param set VT_TYPE 2
 fi
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6 b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
index 4e31e097db..6fbae0d29a 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
+++ b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
@@ -42,7 +42,8 @@ then
 
 	param set VT_FW_MOT_OFFID 34
 	param set VT_IDLE_PWM_MC 1080
-	param set VT_MOT_COUNT 123456
+	param set VT_MOT_ID 123456
+	param set VT_FW_MOT_OFFID 56
 	param set VT_TILT_MC 0.08
 	param set VT_TILT_TRANS 0.5
 	param set VT_TILT_FW 0.9
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
index 7c52dc0b91..781eb5897c 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
@@ -26,7 +26,6 @@ then
 	param set PWM_MAX 2000
 	param set PWM_RATE 400
 
-	param set VT_MOT_COUNT 1234
 	param set VT_IDLE_PWM_MC  1080
 	param set VT_TYPE 0
 	param set VT_ELEV_MC_LOCK 1
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 8dfa6c85c3..7e531ff0ae 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
@@ -58,7 +58,7 @@ then
 	param set VT_ARSP_BLEND 6
 	param set VT_ARSP_TRANS 12
 	param set VT_F_TRANS_THR 0.75
-	param set VT_MOT_COUNT 1234
+	param set VT_MOT_ID 1234
 	param set VT_FW_MOT_OFFID 1234
 	param set VT_IDLE_PWM_MC 1080
 	param set VT_TYPE 2