diff --git a/ROMFS/tap_common/init.d/6001_hexa_x b/ROMFS/tap_common/init.d/6001_hexa_x
index 9bb6257e76..e979a4edf8 100644
--- a/ROMFS/tap_common/init.d/6001_hexa_x
+++ b/ROMFS/tap_common/init.d/6001_hexa_x
@@ -13,7 +13,13 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-tap_esc start -d /dev/ttyS4 -n 6
+param set MAV_TYPE 13
+param set MC_YAWRATE_P 0.12
+param set CAL_MAG0_ROT 6
+
+if tap_esc start -d /dev/ttyS4 -n 6
+then
+fi
 set OUTPUT_MODE tap_esc
 
 set MIXER hexa_x
diff --git a/ROMFS/tap_common/init.d/rc.mc_defaults b/ROMFS/tap_common/init.d/rc.mc_defaults
index 0bf41dcac6..ebe7d8bed8 100644
--- a/ROMFS/tap_common/init.d/rc.mc_defaults
+++ b/ROMFS/tap_common/init.d/rc.mc_defaults
@@ -9,16 +9,19 @@ then
 	param set PE_POSNE_NOISE 0.5
 	param set PE_POSD_NOISE 1.25
 
-	param set NAV_ACC_RAD 2.0
-	param set RTL_RETURN_ALT 30.0
-	param set RTL_DESCEND_ALT 10.0
 	param set PWM_DISARMED 900
 	param set PWM_MIN 1075
 	param set PWM_MAX 1950
-
-	param set RTL_LAND_DELAY 0
 fi
 
+param set NAV_ACC_RAD 2.0
+param set MIS_TAKEOFF_ALT 2.5
+param set RTL_RETURN_ALT 30.0
+param set RTL_DESCEND_ALT 10.0
+param set RTL_LAND_DELAY 0
+param set MPC_THR_MIN 0.10
+param set MPC_MANTHR_MIN 0.04
+
 # set environment variables (!= parameters)
 set PWM_RATE 400
 # tell the mixer to use parameters for these instead
@@ -33,17 +36,3 @@ set PWM_AUX_OUT 1234
 set PWM_AUX_DISARMED 1500
 set PWM_AUX_MIN 1000
 set PWM_AUX_MAX 2000
-
-# Transitional support: ensure suitable PWM min/max param values
-if param compare PWM_MIN 1000
-then
-	param set PWM_MIN 1075
-fi
-if param compare PWM_MAX 2000
-then
-	param set PWM_MAX 1950
-fi
-if param compare PWM_DISARMED 0
-then
-	param set PWM_DISARMED 900
-fi
diff --git a/ROMFS/tap_common/init.d/rc.sensors b/ROMFS/tap_common/init.d/rc.sensors
index 4d70fbcd8f..391199627a 100644
--- a/ROMFS/tap_common/init.d/rc.sensors
+++ b/ROMFS/tap_common/init.d/rc.sensors
@@ -16,17 +16,13 @@ if hmc5883 -C -T -X start
 then
 fi
 
-# Internal I2C bus Rotation TBD
+# Internal I2C bus
 if mpu6000 -I -T 6000 start
 then
 fi
 
-if meas_airspeed start
-then
-fi
-
-# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
-usleep 20000
+# Wait 50 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
+usleep 50000
 if sensors start
 then
 fi
diff --git a/ROMFS/tap_common/init.d/rcS b/ROMFS/tap_common/init.d/rcS
index 24ad3f3145..6e30775b74 100644
--- a/ROMFS/tap_common/init.d/rcS
+++ b/ROMFS/tap_common/init.d/rcS
@@ -21,8 +21,6 @@ sercon
 set TUNE_ERR ML<<CP4CP4CP4CP4CP4
 set LOG_FILE /fs/microsd/bootlog.txt
 
-tone_alarm start
-
 #
 # Try to mount the microSD card.
 #
@@ -68,6 +66,8 @@ else
 	fi
 fi
 
+tone_alarm start
+
 #
 # Start system state indicator
 #
@@ -158,7 +158,10 @@ commander start
 load_mon start
 
 # Start MAVLink on the gimbal port
-mavlink start -r 1200 -d /dev/ttyS1
+#mavlink start -r 1200 -d /dev/ttyS1
+
+# Start MAVLink on USB, developers can use the MAVLink shell
+mavlink start -r 60000 -d /dev/ttyACM0 -m config
 
 #
 # Logging
@@ -336,30 +339,9 @@ if navigator start
 then
 fi
 
-#
-# Generic setup (autostart ID not found)
-#
-if [ $VEHICLE_TYPE == none ]
-then
-	echo "WARN  [init] No autostart ID found"
-fi
-
-# Start any custom addons
-set FEXTRAS /fs/microsd/etc/extras.txt
-if [ -f $FEXTRAS ]
-then
-	echo "INFO  [init] Addons script: $FEXTRAS"
-	sh $FEXTRAS
-fi
-unset FEXTRAS
-
 # There is no further script processing, so we can free some RAM
 # XXX potentially unset all script variables.
 unset TUNE_ERR
 
-# Start MAVLink on USB, developers can use the MAVLink shell
-mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
-
 # Boot is complete, inform MAVLink app(s) that the system is now fully up and running
 mavlink boot_complete
-echo "[boot complete]"