diff --git a/ROMFS/px4fmu_common/init.d/13010_claire b/ROMFS/px4fmu_common/init.d/13010_claire
new file mode 100644
index 0000000000..21d7b9ff09
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/13010_claire
@@ -0,0 +1,36 @@
+#!nsh
+#
+# @name CruiseAder Claire
+#
+# @type VTOL Tiltrotor
+#
+# @maintainer Samay Siga <samay_s@icloud.com>
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+param set VT_TYPE 1
+param set VT_TILT_MC 0.08
+param set VT_TILT_TRANS 0.5
+param set VT_TILT_FW 0.9
+
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC 1080
+param set VT_TYPE 1
+fi
+
+set MIXER claire
+set PWM_OUT 1234
+set PWM_RATE 400
+set PWM_MAX 2000
+
+set MIXER_AUX claire
+set PWM_AUX_RATE 50
+set PWM_AUX_RATE 123
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
+set PWM_AUX_DISARMED 1000
+
+set MAV_TYPE 21
diff --git a/ROMFS/px4fmu_common/mixers/claire.aux.mix b/ROMFS/px4fmu_common/mixers/claire.aux.mix
new file mode 100644
index 0000000000..54b2708294
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/claire.aux.mix
@@ -0,0 +1,38 @@
+# mixer for the CruiseAder Claire tilt mechansim servo, aileron and elevator
+
+=======================================================================
+
+
+Tilt mechanism servo mixer
+
+---------------------------
+
+M: 1
+
+O:      10000  10000      0 -10000  10000
+
+S: 1 4  10000  10000      0 -10000  10000
+
+
+
+Aileron mixers
+
+-------------
+
+M: 1
+
+O:      10000  10000      0 -10000  10000
+
+S: 1 0  10000  10000      0 -10000  10000
+
+
+
+Elevator mixers
+
+-------------
+
+M: 1
+
+O:      10000  10000      0 -10000  10000
+
+S: 1 1 -10000 -10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/claire.main.mix b/ROMFS/px4fmu_common/mixers/claire.main.mix
new file mode 100644
index 0000000000..baad77d3f8
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/claire.main.mix
@@ -0,0 +1,7 @@
+# CruiseAder Claire Main Multirotor mixer for PX4FMU
+
+#
+
+#===========================
+
+R: 4x 10000 10000 10000 0