diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 2832a2e029..4ceee8642e 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -5,9 +5,7 @@
 
 if ver hwcmp PX4FMU_V1
 then
-	if ms5611 start
-	then
-	fi
+	ms5611 start
 else
 	if ver hwcmp AEROFC_V1
 	then
@@ -35,19 +33,13 @@ else
 		fi
 
 		# External SPI
-		if ms5611 -S start
-		then
-		fi
+		ms5611 -S start
 
 		# Internal SPI
-		if ms5611 -s start
-		then
-		fi
+		ms5611 -s start
 
 		# Blacksheep telemetry
-		if bst start
-		then
-		fi
+		bst start
 	fi
 fi
 
@@ -55,50 +47,34 @@ if ver hwcmp AEROFC_V1
 then
 	# Aero FC uses separate driver
 else
-	if adc start
-	then
-	fi
+	adc start
 fi
 
 if ver hwcmp AUAV_X21
 then
 	# External I2C bus
-	if hmc5883 -C -T -X start
-	then
-	fi
+	hmc5883 -C -T -X start
 
 	# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
-	if mpu6000 -R 2 -T 20608 start
-	then
-	fi
+	mpu6000 -R 2 -T 20608 start
 
 	# Internal SPI bus mpu9250 is rotated 90 deg yaw
-	if mpu9250 -R 2 start
-	then
-	fi
+	mpu9250 -R 2 start
 fi
 
 if ver hwcmp PX4FMU_V2
 then
 	# External I2C bus
-	if hmc5883 -C -T -X start
-	then
-	fi
+	hmc5883 -C -T -X start
 
 	# External I2C bus
-	if lis3mdl -X start
-	then
-	fi
+	lis3mdl -X start
 
 	# Internal I2C bus
-	if hmc5883 -C -T -I -R 4 start
-	then
-	fi
+	hmc5883 -C -T -I -R 4 start
 
 	# Internal SPI bus ICM-20608-G
-	if mpu6000 -T 20608 start
-	then
-	fi
+	mpu6000 -T 20608 start
 
 	# V2 build hwtypecmp is always false
 	set BOARD_FMUV3 0
@@ -126,41 +102,29 @@ then
 		param set SENS_EN_THERMAL 0
 
 		# external L3GD20H is rotated 180 degrees yaw
-		if l3gd20 -X -R 4 start
-		then
-		fi
+		l3gd20 -X -R 4 start
 
 		# external LSM303D is rotated 270 degrees yaw
-		if lsm303d -X -R 6 start
-		then
-		fi
+		lsm303d -X -R 6 start
 
 		if [ $BOARD_FMUV3 == 20 ]
 		then
 			# v2.0 internal MPU6000 is rotated 180 deg roll, 270 deg yaw
-			if mpu6000 -R 14 start
-			then
-			fi
+			mpu6000 -R 14 start
 			# v2.0 Has internal hmc5883 on SPI1
-			if hmc5883 -C -T -S -R 8 start
-			then
-			fi
+			hmc5883 -C -T -S -R 8 start
 
 		fi
 		if [ $BOARD_FMUV3 == 21 ]
 		then
 			# v2.1 internal MPU9250 is rotated 180 deg roll, 270 deg yaw
-			if mpu9250 -R 14 start
-			then
-			fi
+			mpu9250 -R 14 start
 		fi
 
 	else
 		# $BOARD_FMUV3 == 0 -> FMUv2
 
-		if mpu6000 start
-		then
-		fi
+		mpu6000 start
 
 		# As we will use the external mag and the ICM-20608-G
 		# V2 build hwtypecmp is always false
@@ -169,115 +133,75 @@ then
 		then
 		# On the PixhawkMini the mpu9250 has been disabled due to HW errata
 		else
-			if mpu9250 start
-			then
-			fi
+			mpu9250 start
 		fi
 
-		if l3gd20 start
-		then
-		fi
-
-		if lsm303d start
-		then
-		fi
+		l3gd20 start
+		lsm303d start
 	fi
 fi
 
 if ver hwcmp PX4FMU_V4
 then
 	# External I2C bus
-	if hmc5883 -C -T -X start
-	then
-	fi
+	hmc5883 -C -T -X start
 
-	if lis3mdl -R 2 start
-	then
-	fi
+	lis3mdl -R 2 start
 
 	# Internal SPI bus is rotated 90 deg yaw
-	if hmc5883 -C -T -S -R 2 start
-	then
-	fi
+	hmc5883 -C -T -S -R 2 start
 
 	# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
-	if mpu6000 -R 2 -T 20608 start
-	then
-	fi
+	mpu6000 -R 2 -T 20608 start
 
 	# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
-	if mpu6000 -R 2 -T 20602 start
-	then
-	fi
+	mpu6000 -R 2 -T 20602 start
 
 	# Start either MPU9250 or BMI160. They are both connected to the same SPI bus and use the same
 	# chip select pin. There are different boards with either one of them and the WHO_AM_I register
 	# will prevent the incorrect driver from a successful initialization.
 
 	# Internal SPI bus mpu9250 is rotated 90 deg yaw
-	if mpu9250 -R 2 start
-	then
-	fi
+	mpu9250 -R 2 start
 
 	# Internal SPI bus BMI160
-	if bmi160 start
-	then
-	fi
+	bmi160 start
 
 	# Start either ICM2060X or BMI055. They are both connected to the same SPI bus and use the same
 	# chip select pin. There are different boards with either one of them and the WHO_AM_I register
 	# will prevent the incorrect driver from a successful initialization.
 
 	# Internal SPI bus BMI055_ACC
-	if bmi055 -A start
-	then
-	fi
+	bmi055 -A start
 
 	# Internal SPI bus BMI055_GYR
-	if bmi055 -G start
-	then
-	fi
+	bmi055 -G start
 
 	# expansion i2c used for BMM150 rotated by 90deg
-	if bmm150 -R 2 start
-	then
-	fi
+	bmm150 -R 2 start
 
 	# expansion i2c used for BMP280
-	if bmp280 -I start
-	then
-	fi
+	bmp280 -I start
 fi
 
 if ver hwcmp PX4FMU_V1
 then
 	# FMUv1
-	if mpu6000 start
-	then
-	fi
-
-	if l3gd20 start
-	then
-	fi
+	mpu6000 start
+	l3gd20 start
 
 	# MAG selection
 	if param compare SENS_EXT_MAG 2
 	then
-		if hmc5883 -C -I start
-		then
-		fi
+		hmc5883 -C -I start
 	else
 		# Use only external as primary
 		if param compare SENS_EXT_MAG 1
 		then
-			if hmc5883 -C -X start
-			then
-			fi
+			hmc5883 -C -X start
 		else
 		# auto-detect the primary, prefer external
-			if hmc5883 start
-			then
-			fi
+			hmc5883 start
 		fi
 	fi
 fi
@@ -285,128 +209,75 @@ fi
 if ver hwcmp MINDPX_V2
 then
 	# External I2C bus
-	if hmc5883 -C -T -X start
-	then
-	fi
-
+	hmc5883 -C -T -X start
 	# Internal I2C bus
-	if hmc5883 -C -T -I -R 12 start
-	then
-	fi
-
-	if mpu6000 -s -R 8 start
-	then
-	fi
-
-	if mpu9250 -s -R 8 start
-	then
-	fi
-
-	if lsm303d -R 10 start
-	then
-	fi
-
-	if l3gd20 -R 14 start
-	then
-	fi
+	hmc5883 -C -T -I -R 12 start
+	mpu6000 -s -R 8 start
+	mpu9250 -s -R 8 start
+	lsm303d -R 10 start
+	l3gd20 -R 14 start
 fi
 
 if ver hwcmp CRAZYFLIE
 then
 	# Onboard I2C
-	if mpu9250 -R 12 start
-	then
-	fi
+	mpu9250 -R 12 start
 
 	# I2C bypass of mpu
-	if lps25h start
-	then
-	fi
+	lps25h start
 fi
 
 if ver hwcmp AEROFC_V1
 then
-	if ms5611 -T 0 start
-	then
-	fi
+	ms5611 -T 0 start
 
-	if mpu9250 -s -R 14 start
-	then
-	fi
+	mpu9250 -s -R 14 start
 
 	# Possible external compasses
-	if hmc5883 -X start
-	then
-	fi
+	hmc5883 -X start
 
-	if ist8310 -C -b 1 -R 4 start
-	then
-	fi
+	ist8310 -C -b 1 -R 4 start
 
-	if aerofc_adc start
-	then
-	fi
+	aerofc_adc start
 
-	if ll40ls start i2c
-	then
-	fi
+	ll40ls start i2c
 fi
 
 if ver hwcmp PX4FMU_V4PRO
 then
 	# Internal SPI bus ICM-20608-G
-	if mpu6000 -R 2 -T 20608 start
-	then
-	fi
+	mpu6000 -R 2 -T 20608 start
 
 	# Internal SPI bus ICM-20602
-	if mpu6000 -R 2 -T 20602 start
-	then
-	fi
+	mpu6000 -R 2 -T 20602 start
 
 	# Internal SPI bus mpu9250
-	if mpu9250 -R 2 start
-	then
-	fi
+	mpu9250 -R 2 start
 
 	# Internal SPI bus
-	if lis3mdl -R 0 start
-	then
-	fi
+	lis3mdl -R 0 start
 
 	# Possible external compasses
-	if hmc5883 -C -T -X start
-	then
-	fi
+	hmc5883 -C -T -X start
 fi
 
 if ver hwcmp PX4FMU_V5
 then
 
 	# Internal SPI bus ICM-20602
-	if mpu6000 -R 8 -s -T 20602 start
-	then
-	fi
+	mpu6000 -R 8 -s -T 20602 start
 
 	# Internal SPI bus ICM-20689
-	if mpu6000 -R 8 -z -T 20689 start
-	then
-	fi
+	mpu6000 -R 8 -z -T 20689 start
 
 	# Internal SPI bus BMI055 accel
-	if bmi055 -A -R 10 start
-	then
-	fi
+	bmi055 -A -R 10 start
 
 	# Internal SPI bus BMI055 gyro
-	if bmi055 -G -R 10 start
-	then
-	fi
+	bmi055 -G -R 10 start
 
 	# Possible external compasses
-	if hmc5883 -C -T -X start
-	then
-	fi
+	hmc5883 -C -T -X start
 fi
 
 if ver hwcmp AEROCORE2
@@ -419,85 +290,65 @@ fi
 # Optional drivers
 #
 
-if sdp3x_airspeed start
-then
-fi
-
-if ms5525_airspeed start
-then
-fi
-
-if ms5525_airspeed start -b 2
-then
-fi
+sdp3x_airspeed start
+sdp3x_airspeed start -b 2
 
-if ms4525_airspeed start
-then
-fi
-
-if ms4525_airspeed start -b 2
+# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
+# detected as MS5525 because the chip manufacturer was so
+# clever to assign the same I2C address and skip a WHO_AM_I
+# register.
+if [ $BOARD_FMUV3 == 21 ]
 then
+	ms5525_airspeed start -b 2
+else
+	ms5525_airspeed start
 fi
 
-if ets_airspeed start
-then
-fi
+ms4525_airspeed start
+ms4525_airspeed start -b 2
 
-if ets_airspeed start -b 1
-then
-fi
+ets_airspeed start
+ets_airspeed start -b 1
 
 # Sensors on the PWM interface bank
 if param compare SENS_EN_LL40LS 1
 then
 	if pwm_input start
 	then
-		if ll40ls start pwm
-		then
-		fi
+		ll40ls start pwm
 	fi
 fi
 
 # Lidar-Lite on I2C
 if param compare SENS_EN_LL40LS 2
 then
-	if ll40ls start i2c
-	then
-	fi
+	ll40ls start i2c
 fi
 
 # lightware serial lidar sensor
 if param compare SENS_EN_SF0X 0
 then
 else
-	if sf0x start
-	then
-	fi
+	sf0x start
 fi
 
 # lightware i2c lidar sensor
 if param compare SENS_EN_SF1XX 0
 then
 else
-	if sf1xx start
-	then
-	fi
+	sf1xx start
 fi
 
 # mb12xx sonar sensor
 if param compare SENS_EN_MB12XX 1
 then
-	if mb12xx start
-	then
-	fi
+	mb12xx start
 fi
 
 # teraranger one tof sensor
 if param compare SENS_EN_TRONE 1
 then
-	if trone start
-	then
-	fi
+	trone start
 fi
 
 # Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)