diff --git a/boards/scumaker/pilotpi/arm64.cmake b/boards/scumaker/pilotpi/arm64.cmake
index 98f78d5efc..9674354dd0 100644
--- a/boards/scumaker/pilotpi/arm64.cmake
+++ b/boards/scumaker/pilotpi/arm64.cmake
@@ -27,6 +27,7 @@ px4_add_board(
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883
 		magnetometer/isentek/ist8310
+		magnetometer/qmc5883l
 		pca9685_pwm_out
 		pwm_out_sim
 		rc_input
diff --git a/boards/scumaker/pilotpi/default.cmake b/boards/scumaker/pilotpi/default.cmake
index b0f9ee378f..853dbbf041 100644
--- a/boards/scumaker/pilotpi/default.cmake
+++ b/boards/scumaker/pilotpi/default.cmake
@@ -27,6 +27,7 @@ px4_add_board(
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883
 		magnetometer/isentek/ist8310
+		magnetometer/qmc5883l
 		pca9685_pwm_out
 		pwm_out_sim
 		rc_input
diff --git a/posix-configs/rpi/pilotpi_fw.config b/posix-configs/rpi/pilotpi_fw.config
new file mode 100644
index 0000000000..56ec62f6e1
--- /dev/null
+++ b/posix-configs/rpi/pilotpi_fw.config
@@ -0,0 +1,83 @@
+#!/bin/sh
+# PX4 commands need the 'px4-' prefix in bash.
+# (px4-alias.sh is expected to be in the PATH)
+. px4-alias.sh
+
+uorb start
+
+if [ -f eeprom/parameters ]
+then
+	param load
+fi
+
+# system_power not implemented
+param set CBRK_SUPPLY_CHK 894281
+# broadcast to LAN
+param set MAV_BROADCAST 1
+# always keep current config
+param set SYS_AUTOCONFIG 0
+# useless but required for parameter completeness
+param set MAV_TYPE 1
+param set SYS_AUTOSTART 2100
+
+# Multi-EKF
+param set EKF2_MULTI_IMU 1
+param set SENS_IMU_MODE 0
+param set EKF2_MULTI_MAG 1
+param set SENS_MAG_MODE 0
+
+dataman start
+
+load_mon start
+
+battery_status start
+
+# internal IMU
+if ! icm42688p start -q -s -R 4
+then
+	# some boards has ICM42605 instead
+	icm42605 start -s -R 4
+fi
+if ! ist8310 start -q -I -a 15 -R 4
+then
+	# some boards has QMC5883l instead
+	qmc5883l start -I -R 6
+fi
+ms5611 start -I
+
+# ADC
+ads1115 start -I
+
+# PWM
+pca9685_pwm_out start
+mixer load /dev/pwm_output0 etc/mixers/AAERTWF.main.mix
+
+# external GPS & compass
+gps start -d /dev/ttySC0 -i uart -p ubx -s
+#hmc5883 start -X
+#ist8310 start -X
+
+# Airspeed
+ms4525_airspeed start -X
+
+rc_input start -d /dev/ttyAMA0
+
+rc_update start
+sensors start
+commander start
+navigator start
+ekf2 start
+airspeed_selector start
+land_detector start fixedwing
+flight_mode_manager start
+fw_att_control start
+fw_pos_control_l1 start
+
+mavlink start -x -u 14556 -r 1000000
+
+# Telem
+mavlink start -x -Z -d /dev/ttySC1
+
+logger start -t -b 200
+
+mavlink boot_complete
diff --git a/posix-configs/rpi/pilotpi_mc.config b/posix-configs/rpi/pilotpi_mc.config
index 28f8211961..12b6816f24 100644
--- a/posix-configs/rpi/pilotpi_mc.config
+++ b/posix-configs/rpi/pilotpi_mc.config
@@ -9,15 +9,21 @@ if [ -f eeprom/parameters ]
 then
 	param load
 fi
+
+# system_power not implemented
 param set CBRK_SUPPLY_CHK 894281
-#param set SYS_AUTOSTART 4001
+# broadcast to LAN
 param set MAV_BROADCAST 1
+# always keep current config
+param set SYS_AUTOCONFIG 0
+# useless but required for parameter completeness
 param set MAV_TYPE 2
+param set SYS_AUTOSTART 4001
 
 # Multi-EKF
-param set EKF2_MULTI_IMU 2
+param set EKF2_MULTI_IMU 1
 param set SENS_IMU_MODE 0
-param set EKF2_MULTI_MAG 3
+param set EKF2_MULTI_MAG 1
 param set SENS_MAG_MODE 0
 
 dataman start
@@ -27,12 +33,16 @@ load_mon start
 battery_status start
 
 # internal IMU
-if ! icm42688p start -s -R 4
+if ! icm42688p start -q -s -R 4
 then
-	# some boards has ICM42605 inside
+	# some boards has ICM42605 instead
 	icm42605 start -s -R 4
 fi
-ist8310 start -I -a 15 -R 4
+if ! ist8310 start -q -I -a 15 -R 4
+then
+	# some boards has QMC5883l instead
+	qmc5883l start -I -R 6
+fi
 ms5611 start -I
 
 # ADC