diff --git a/ROMFS/px4fmu_common/init.d/rc.vehicle_setup b/ROMFS/px4fmu_common/init.d/rc.vehicle_setup
new file mode 100644
index 0000000000..da22203368
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.vehicle_setup
@@ -0,0 +1,167 @@
+#!nsh
+#
+# Vehicle configuration setup script.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+#
+# Fixed wing setup
+#
+if [ $VEHICLE_TYPE == fw ]
+then
+	if [ $MIXER == none ]
+	then
+		# Set default mixer for fixed wing if not defined
+		set MIXER AERT
+	fi
+
+	if [ $MAV_TYPE == none ]
+	then
+		# Use MAV_TYPE = 1 (fixed wing) if not defined
+		set MAV_TYPE 1
+	fi
+
+	param set MAV_TYPE ${MAV_TYPE}
+
+	# Load mixer and configure outputs
+	sh /etc/init.d/rc.interface
+
+	# Start standard fixedwing apps
+	sh /etc/init.d/rc.fw_apps
+fi
+
+#
+# Multicopters setup
+#
+if [ $VEHICLE_TYPE == mc ]
+then
+	if [ $MIXER == none ]
+	then
+		echo "Mixer undefined"
+	fi
+
+	if [ $MAV_TYPE == none ]
+	then
+		# Use mixer to detect vehicle type
+		if [ $MIXER == quad_x -o $MIXER == quad_+ ]
+		then
+			set MAV_TYPE 2
+		fi
+		if [ $MIXER == quad_w -o $MIXER == quad_dc ]
+		then
+			set MAV_TYPE 2
+		fi
+		if [ $MIXER == quad_h ]
+		then
+			set MAV_TYPE 2
+		fi
+		if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
+		then
+			set MAV_TYPE 15
+		fi
+		if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
+		then
+			set MAV_TYPE 13
+		fi
+		if [ $MIXER == hexa_cox ]
+		then
+			set MAV_TYPE 13
+		fi
+		if [ $MIXER == octo_x -o $MIXER == octo_+ ]
+		then
+			set MAV_TYPE 14
+		fi
+		if [ $MIXER == octo_cox -o $MIXER == octo_cox_w ]
+		then
+			set MAV_TYPE 14
+		fi
+		if [ $MIXER == coax ]
+		then
+			set MAV_TYPE 3
+		fi
+	fi
+
+	# Still no MAV_TYPE found
+	if [ $MAV_TYPE == none ]
+	then
+		param set MAV_TYPE 2
+	else
+		param set MAV_TYPE ${MAV_TYPE}
+	fi
+
+	# Load mixer and configure outputs
+	sh /etc/init.d/rc.interface
+
+	# Start standard multicopter apps
+	sh /etc/init.d/rc.mc_apps
+fi
+
+#
+# VTOL setup
+#
+if [ $VEHICLE_TYPE == vtol ]
+then
+	if [ $MIXER == none ]
+	then
+		echo "VTOL mixer undefined"
+	fi
+
+	if [ $MAV_TYPE == none ]
+	then
+		# Use mixer to detect vehicle type
+		if [ $MIXER == caipirinha_vtol ]
+		then
+			set MAV_TYPE 19
+		fi
+		if [ $MIXER == firefly6 ]
+		then
+			set MAV_TYPE 21
+		fi
+		if [ $MIXER == quad_x_pusher_vtol ]
+		then
+			set MAV_TYPE 22
+		fi
+	fi
+
+	# Still no MAV_TYPE found
+	if [ $MAV_TYPE == none ]
+	then
+		echo "Unknown MAV_TYPE"
+		param set MAV_TYPE 19
+	else
+		param set MAV_TYPE ${MAV_TYPE}
+	fi
+
+	# Load mixer and configure outputs
+	sh /etc/init.d/rc.interface
+
+	# Start standard vtol apps
+	sh /etc/init.d/rc.vtol_apps
+fi
+
+#
+# UGV setup
+#
+if [ $VEHICLE_TYPE == ugv ]
+then
+	if [ $MIXER == none ]
+	then
+		# Set default mixer for UGV if not defined
+		set MIXER ugv_generic
+	fi
+
+	if [ $MAV_TYPE == none ]
+	then
+		# Use MAV_TYPE = 10 (UGV) if not defined
+		set MAV_TYPE 10
+	fi
+
+	param set MAV_TYPE ${MAV_TYPE}
+
+	# Load mixer and configure outputs
+	sh /etc/init.d/rc.interface
+
+	# Start standard UGV apps
+	sh /etc/init.d/rc.ugv_apps
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 201b1fb180..38019807dd 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -550,165 +550,11 @@ then
 	fi
 
 	#
-	# Fixed wing setup
+	# Configure vehicle type specific parameters.
+	# Note: rc.vehicle_setup is the entry point for rc.interface,
+	#       rc.fw_apps, rc.mc_apps, rc.ugv_apps, and rc.vtol_apps.
 	#
-	if [ $VEHICLE_TYPE == fw ]
-	then
-		if [ $MIXER == none ]
-		then
-			# Set default mixer for fixed wing if not defined
-			set MIXER AERT
-		fi
-
-		if [ $MAV_TYPE == none ]
-		then
-			# Use MAV_TYPE = 1 (fixed wing) if not defined
-			set MAV_TYPE 1
-		fi
-
-		param set MAV_TYPE ${MAV_TYPE}
-
-		# Load mixer and configure outputs
-		sh /etc/init.d/rc.interface
-
-		# Start standard fixedwing apps
-		sh /etc/init.d/rc.fw_apps
-	fi
-
-	#
-	# Multicopters setup
-	#
-	if [ $VEHICLE_TYPE == mc ]
-	then
-		if [ $MIXER == none ]
-		then
-			echo "Mixer undefined"
-		fi
-
-		if [ $MAV_TYPE == none ]
-		then
-			# Use mixer to detect vehicle type
-			if [ $MIXER == quad_x -o $MIXER == quad_+ ]
-			then
-				set MAV_TYPE 2
-			fi
-			if [ $MIXER == quad_w -o $MIXER == quad_dc ]
-			then
-				set MAV_TYPE 2
-			fi
-			if [ $MIXER == quad_h ]
-			then
-				set MAV_TYPE 2
-			fi
-			if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
-			then
-				set MAV_TYPE 15
-			fi
-			if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
-			then
-				set MAV_TYPE 13
-			fi
-			if [ $MIXER == hexa_cox ]
-			then
-				set MAV_TYPE 13
-			fi
-			if [ $MIXER == octo_x -o $MIXER == octo_+ ]
-			then
-				set MAV_TYPE 14
-			fi
-			if [ $MIXER == octo_cox -o $MIXER == octo_cox_w ]
-			then
-				set MAV_TYPE 14
-			fi
-			if [ $MIXER == coax ]
-			then
-				set MAV_TYPE 3
-			fi
-		fi
-
-		# Still no MAV_TYPE found
-		if [ $MAV_TYPE == none ]
-		then
-			param set MAV_TYPE 2
-		else
-			param set MAV_TYPE ${MAV_TYPE}
-		fi
-
-		# Load mixer and configure outputs
-		sh /etc/init.d/rc.interface
-
-		# Start standard multicopter apps
-		sh /etc/init.d/rc.mc_apps
-	fi
-
-	#
-	# VTOL setup
-	#
-	if [ $VEHICLE_TYPE == vtol ]
-	then
-		if [ $MIXER == none ]
-		then
-			echo "VTOL mixer undefined"
-		fi
-
-		if [ $MAV_TYPE == none ]
-		then
-			# Use mixer to detect vehicle type
-			if [ $MIXER == caipirinha_vtol ]
-			then
-				set MAV_TYPE 19
-			fi
-			if [ $MIXER == firefly6 ]
-			then
-				set MAV_TYPE 21
-			fi
-			if [ $MIXER == quad_x_pusher_vtol ]
-			then
-				set MAV_TYPE 22
-			fi
-		fi
-
-		# Still no MAV_TYPE found
-		if [ $MAV_TYPE == none ]
-		then
-			echo "Unknown MAV_TYPE"
-			param set MAV_TYPE 19
-		else
-			param set MAV_TYPE ${MAV_TYPE}
-		fi
-
-		# Load mixer and configure outputs
-		sh /etc/init.d/rc.interface
-
-		# Start standard vtol apps
-		sh /etc/init.d/rc.vtol_apps
-	fi
-
-	#
-	# UGV setup
-	#
-	if [ $VEHICLE_TYPE == ugv ]
-	then
-		if [ $MIXER == none ]
-		then
-			# Set default mixer for UGV if not defined
-			set MIXER ugv_generic
-		fi
-
-		if [ $MAV_TYPE == none ]
-		then
-			# Use MAV_TYPE = 10 (UGV) if not defined
-			set MAV_TYPE 10
-		fi
-
-		param set MAV_TYPE ${MAV_TYPE}
-
-		# Load mixer and configure outputs
-		sh /etc/init.d/rc.interface
-
-		# Start standard UGV apps
-		sh /etc/init.d/rc.ugv_apps
-	fi
+	sh /etc/init.d/rc.vehicle_setup
 
 	#
 	# Start the navigator.