diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 03ea3601a1..e97b8db898 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1166,28 +1166,49 @@ PX4IO::task_main()
 
 				(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE, pwm_invert_mask);
 
-				float trim_val;
+				float param_val;
 				param_t parm_handle;
 
 				parm_handle = param_find("TRIM_ROLL");
 
 				if (parm_handle != PARAM_INVALID) {
-					param_get(parm_handle, &trim_val);
-					(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_ROLL, FLOAT_TO_REG(trim_val));
+					param_get(parm_handle, &param_val);
+					(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_ROLL, FLOAT_TO_REG(param_val));
 				}
 
 				parm_handle = param_find("TRIM_PITCH");
 
 				if (parm_handle != PARAM_INVALID) {
-					param_get(parm_handle, &trim_val);
-					(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_PITCH, FLOAT_TO_REG(trim_val));
+					param_get(parm_handle, &param_val);
+					(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_PITCH, FLOAT_TO_REG(param_val));
 				}
 
 				parm_handle = param_find("TRIM_YAW");
 
 				if (parm_handle != PARAM_INVALID) {
-					param_get(parm_handle, &trim_val);
-					(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_YAW, FLOAT_TO_REG(trim_val));
+					param_get(parm_handle, &param_val);
+					(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_YAW, FLOAT_TO_REG(param_val));
+				}
+
+				parm_handle = param_find("FW_MAN_R_SC");
+
+				if (parm_handle != PARAM_INVALID) {
+					param_get(parm_handle, &param_val);
+					(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SCALE_ROLL, FLOAT_TO_REG(param_val));
+				}
+
+				parm_handle = param_find("FW_MAN_P_SC");
+
+				if (parm_handle != PARAM_INVALID) {
+					param_get(parm_handle, &param_val);
+					(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SCALE_PITCH, FLOAT_TO_REG(param_val));
+				}
+
+				parm_handle = param_find("FW_MAN_Y_SC");
+
+				if (parm_handle != PARAM_INVALID) {
+					param_get(parm_handle, &param_val);
+					(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SCALE_YAW, FLOAT_TO_REG(param_val));
 				}
 
 				/* S.BUS output */