diff --git a/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow b/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow
new file mode 100644
index 0000000000..1f23de557e
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow
@@ -0,0 +1,30 @@
+#!nsh
+#
+# @name 3DR Iris Quadrotor SITL (Optical Flow)
+#
+# @type Quadrotor Wide
+#
+
+sh /etc/init.d-posix/10016_iris
+
+if [ $AUTOCNF == yes ]
+then
+
+	param set EKF2_AID_MASK 2
+	param set EKF2_EV_DELAY 5
+	param set EKF2_EVP_NOISE 0.05
+	param set EKF2_EVA_NOISE 0.05
+
+	param set INAV_LIDAR_EST 1
+	param set INAV_W_XY_FLOW 1.0
+	param set INAV_W_XY_GPS_P 0.0
+	param set INAV_W_XY_GPS_V 0.0
+	param set INAV_W_Z_GPS_P 0.0
+
+	# LPE: Flow-only mode
+	param set LPE_FUSION 242
+	param set LPE_FAKE_ORIGIN 1
+
+	param set MPC_ALT_MODE 2
+fi
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow.post b/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow.post
new file mode 100644
index 0000000000..c28e1986a1
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow.post
@@ -0,0 +1,4 @@
+
+mavlink stream -r 10 -s DISTANCE_SENSOR -u $udp_gcs_port_local
+mavlink stream -r 10 -s VISION_POSITION_ESTIMATE -u $udp_gcs_port_local
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/1011_iris_irlock b/ROMFS/px4fmu_common/init.d-posix/1011_iris_irlock
new file mode 100644
index 0000000000..ae9abad22d
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/1011_iris_irlock
@@ -0,0 +1,17 @@
+#!nsh
+#
+# @name 3DR Iris Quadrotor SITL (irlock)
+#
+# @type Quadrotor Wide
+#
+
+sh /etc/init.d-posix/10016_iris
+
+
+if [ $AUTOCNF == yes ]
+then
+	# enable fusion of landing target velocity
+	param set LTEST_MODE 1
+	param set PLD_HACC_RAD 0.1
+fi
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/1012_iris_rplidar b/ROMFS/px4fmu_common/init.d-posix/1012_iris_rplidar
new file mode 100644
index 0000000000..2a1ce798f6
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/1012_iris_rplidar
@@ -0,0 +1,14 @@
+#!nsh
+#
+# @name 3DR Iris Quadrotor SITL (rplidar)
+#
+# @type Quadrotor Wide
+#
+
+sh /etc/init.d-posix/10016_iris
+
+if [ $AUTOCNF == yes ]
+then
+	param set LPE_FUSION 242
+fi
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision b/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision
new file mode 100644
index 0000000000..e1d58e8e70
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision
@@ -0,0 +1,16 @@
+#!nsh
+#
+# @name 3DR Iris Quadrotor SITL (Vision)
+#
+# @type Quadrotor Wide
+#
+
+sh /etc/init.d-posix/1010_iris_opt_flow
+
+if [ $AUTOCNF == yes ]
+then
+	param set EKF2_AID_MASK 8
+	param set EKF2_EV_DELAY 5
+fi
+
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/1014_solo b/ROMFS/px4fmu_common/init.d-posix/1014_solo
new file mode 100644
index 0000000000..fdf8d34467
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/1014_solo
@@ -0,0 +1,17 @@
+#!nsh
+#
+# @name Solo
+#
+# @type Quadrotor
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_PITCHRATE_P 0.15
+	param set MC_ROLLRATE_P 0.15
+fi
+
+set MIXER quad_x
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/1020_hippocampus b/ROMFS/px4fmu_common/init.d-posix/1020_hippocampus
new file mode 100644
index 0000000000..f24296adb1
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/1020_hippocampus
@@ -0,0 +1,10 @@
+#!nsh
+#
+# @name Hippocampus UUV
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER uuv_quad_x
+
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/1030_plane b/ROMFS/px4fmu_common/init.d-posix/1030_plane
new file mode 100644
index 0000000000..8b85c0ec8a
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/1030_plane
@@ -0,0 +1,42 @@
+#!nsh
+#
+# @name Plane SITL
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set MAV_TYPE 1
+
+	param set EKF2_ARSP_THR 8.0
+	param set EKF2_FUSE_BETA 1
+	param set EKF2_MAG_ACCLIM 0
+	param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_ANG 8
+	param set FW_P_TC 0.5
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05
+	param set FW_R_TC 0.7
+	param set FW_RR_FF 0.20
+	param set FW_RR_I 0.02
+	param set FW_RR_P 0.22
+	param set FW_THR_IDLE 0.15
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 30
+	param set NAV_ACC_RAD 15.0
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+
+	param set WEST_EN 1
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol
new file mode 100644
index 0000000000..f5cf73bf59
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol
@@ -0,0 +1,45 @@
+#!nsh
+#
+# @name Standard VTOL
+#
+# @type Standard VTOL
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set MAV_TYPE 22
+
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
+
+	param set MC_ROLLRATE_P 0.3
+	param set MIS_LTRMIN_ALT 10
+	param set MIS_TAKEOFF_ALT 10
+	param set MIS_YAW_TMT 10
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2.0
+	param set MPC_THR_MIN 0.1
+	param set MPC_TKO_SPEED 1.0
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_D 0.005
+	param set MPC_XY_VEL_I 0.2
+	param set MPC_XY_VEL_P 0.15
+	param set MPC_Z_VEL_MAX_DN 1.5
+
+	param set NAV_ACC_RAD 5.0
+	param set NAV_LOITER_RAD 80
+
+	param set VT_F_TRANS_DUR 5
+	param set VT_F_TRANS_THR 0.75
+	param set VT_MOT_COUNT 4
+	param set VT_TYPE 2
+
+	param set WEST_EN 1
+fi
+
+set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
+set MIXER custom
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/1041_tailsitter b/ROMFS/px4fmu_common/init.d-posix/1041_tailsitter
new file mode 100644
index 0000000000..ef8e7af6f8
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/1041_tailsitter
@@ -0,0 +1,47 @@
+#!nsh
+#
+# @name Quadrotor + Tailsitter
+#
+# @type VTOL Quad Tailsitter
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set MAV_TYPE 20
+
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
+
+	param set MC_ROLLRATE_P 0.3
+	param set MIS_LTRMIN_ALT 10
+	param set MIS_TAKEOFF_ALT 10
+	param set MIS_YAW_TMT 10
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2.0
+	param set MPC_THR_MIN 0.1
+	param set MPC_TKO_SPEED 1.0
+	param set MPC_XY_P 0.15
+	param set MPC_XY_VEL_D 0.005
+	param set MPC_XY_VEL_I 0.2
+	param set MPC_XY_VEL_P 0.05
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_Z_VEL_P 0.8
+
+	param set NAV_ACC_RAD 5.0
+	param set NAV_LOITER_RAD 80
+
+	param set VT_F_TRANS_DUR 1.5
+	param set VT_F_TRANS_THR 0.7
+	param set VT_MOT_COUNT 0
+	param set VT_TYPE 0
+
+	param set WEST_EN 1
+fi
+
+set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
+set MIXER custom
+
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor
new file mode 100644
index 0000000000..6a73e0c3ca
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor
@@ -0,0 +1,50 @@
+#!nsh
+#
+# @name VTOL Tiltrotor
+#
+# @type VTOL Tiltrotor
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set MAV_TYPE 21
+
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
+
+	param set MC_ROLLRATE_P 0.3
+	param set MIS_LTRMIN_ALT 10
+	param set MIS_TAKEOFF_ALT 10
+	param set MIS_YAW_TMT 10
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2.0
+	param set MPC_THR_MIN 0.1
+	param set MPC_TKO_SPEED 1.0
+	param set MPC_XY_P 0.15
+	param set MPC_XY_VEL_D 0.005
+	param set MPC_XY_VEL_I 0.2
+	param set MPC_XY_VEL_P 0.05
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_Z_VEL_P 0.8
+
+	param set NAV_ACC_RAD 5.0
+	param set NAV_LOITER_RAD 80
+
+	param set VT_F_TRANS_DUR 1.5
+	param set VT_F_TRANS_THR 0.75
+	param set VT_MOT_COUNT 4
+	param set VT_TILT_FW 3.1415
+	param set VT_TILT_TRANS 1.2
+	param set VT_TYPE 1
+
+	param set WEST_EN 1
+fi
+
+set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
+set MIXER custom
+
+
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/1060_rover b/ROMFS/px4fmu_common/init.d-posix/1060_rover
new file mode 100644
index 0000000000..ec4790f195
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/1060_rover
@@ -0,0 +1,38 @@
+#!nsh
+#
+# @name Rover
+#
+
+sh /etc/init.d/rc.ugv_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set MAV_TYPE 10
+
+	param set GND_L1_DIST 5
+	param set GND_SP_CTRL_MODE 1
+	param set GND_SPEED_D 3
+	param set GND_SPEED_I 0.001
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_P 0.25
+	param set GND_SPEED_THR_SC 1
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0
+	param set GND_SPEED_TRIM 4
+	param set GND_WR_D 1.2
+	param set GND_WR_I 0.9674
+	param set GND_WR_IMAX 0.1
+	param set GND_WR_P 2
+
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+	param set NAV_ACC_RAD 0.5
+	param set NAV_LOITER_RAD 2
+
+	param set CBRK_AIRSPD_CHK 162128
+fi
+
+set MIXER_FILE etc/mixers-sitl/rover_sitl.main.mix
+
diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index ca77ae6748..e8a8a4626f 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -4,8 +4,9 @@
 # (px4-alias.sh is expected to be in the PATH)
 source px4-alias.sh
 
+#
 # Main SITL startup script
-
+#
 
 # check for ekf2 replay
 if [ "$replay_mode" == "ekf2" ]
@@ -21,6 +22,7 @@ set LOG_FILE                    bootlog.txt
 set MAV_TYPE                    none
 set MIXER                       none
 set MIXER_AUX                   none
+set MIXER_FILE                  none
 set OUTPUT_MODE                 sim
 set PWM_OUT                     none
 set SDCARD_MIXERS_PATH          etc/mixers
@@ -34,6 +36,28 @@ if [ "$PX4_SIM_MODEL" == "shell" ]; then
 	set RUN_MINIMAL_SHELL yes
 elif [ "$PX4_SIM_MODEL" == "iris" ]; then
 	set REQUESTED_AUTOSTART 10016
+elif [ "$PX4_SIM_MODEL" == "iris_opt_flow" ]; then
+	set REQUESTED_AUTOSTART 1010
+elif [ "$PX4_SIM_MODEL" == "iris_irlock" ]; then
+	set REQUESTED_AUTOSTART 1011
+elif [ "$PX4_SIM_MODEL" == "iris_rplidar" ]; then
+	set REQUESTED_AUTOSTART 1012
+elif [ "$PX4_SIM_MODEL" == "iris_vision" ]; then
+	set REQUESTED_AUTOSTART 1013
+elif [ "$PX4_SIM_MODEL" == "solo" ]; then
+	set REQUESTED_AUTOSTART 1014
+elif [ "$PX4_SIM_MODEL" == "hippocampus" ]; then
+	set REQUESTED_AUTOSTART 1020
+elif [ "$PX4_SIM_MODEL" == "plane" ]; then
+	set REQUESTED_AUTOSTART 1030
+elif [ "$PX4_SIM_MODEL" == "standard_vtol" ]; then
+	set REQUESTED_AUTOSTART 1040
+elif [ "$PX4_SIM_MODEL" == "tailsitter" ]; then
+	set REQUESTED_AUTOSTART 1041
+elif [ "$PX4_SIM_MODEL" == "tiltrotor" ]; then
+	set REQUESTED_AUTOSTART 1042
+elif [ "$PX4_SIM_MODEL" == "rover" ]; then
+	set REQUESTED_AUTOSTART 1060
 elif [ "$PX4_SIM_MODEL" == "typhoon_h480" ]; then
 	set REQUESTED_AUTOSTART 6011
 else
@@ -96,6 +120,8 @@ then
 	param set CAL_GYRO0_XOFF 0.01
 	param set CAL_MAG0_ID 196616
 	param set CAL_MAG0_XOFF 0.01
+	param set SENS_DPRES_OFF 0.001
+	param set CBRK_AIRSPD_CHK 0
 
 	param set COM_DISARM_LAND 3
 	param set COM_OBL_ACT 2
@@ -114,6 +140,7 @@ then
 	param set MC_ROLL_P 6
 	param set MC_ROLLRATE_P 0.2
 	param set MIS_TAKEOFF_ALT 2.5
+	param set MPC_ALT_MODE 0
 	param set MPC_HOLD_MAX_Z 2.0
 	param set MPC_Z_VEL_I 0.15
 	param set MPC_Z_VEL_P 0.6
@@ -127,6 +154,11 @@ then
 	param set SENS_BOARD_ROT 0
 	param set SENS_BOARD_X_OFF 0.000001
 	param set SYS_RESTART_TYPE 2
+
+	# LPE: GPS only mode
+	param set LPE_FUSION 145
+
+	param set WEST_EN 0
 fi
 
 # Autostart ID
@@ -153,6 +185,10 @@ sensors start
 commander start
 navigator start
 
+if param compare WEST_EN 1
+then
+	wind_estimator start
+fi
 
 if ! param compare MNT_MODE_IN -1
 then
@@ -166,6 +202,15 @@ then
 	camera_feedback start
 fi
 
+
+if [ ${VEHICLE_TYPE} == fw -o ${VEHICLE_TYPE} == vtol ]
+then
+	if param compare CBRK_AIRSPD_CHK 0
+	then
+		measairspeedsim start
+	fi
+fi
+
 # 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.
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_apps b/ROMFS/px4fmu_common/init.d/rc.fw_apps
index 6dc1c6b1fc..be54a4aac3 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps
@@ -29,7 +29,3 @@ fw_pos_control_l1 start
 #
 land_detector start fixedwing
 
-#
-# Start Wind and Airspeed Scale Estimator.
-#
-#wind_estimator start
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_apps b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
index 00e79abfbf..6cfa7179c9 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
@@ -55,7 +55,3 @@ fw_pos_control_l1 start
 #
 land_detector start vtol
 
-#
-# Start Wind and Airspeed Scale Estimator
-#
-#wind_estimator start
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index dd40864ead..9c819f96e2 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -486,7 +486,10 @@ else
 	#
 	# Start the standalone wind estimator.
 	#
-	wind_estimator start
+	if param compare WEST_EN 1
+	then
+		wind_estimator start
+	fi
 
 	#
 	# Start a thermal calibration if required.
diff --git a/Tools/sitl_run.sh b/Tools/sitl_run.sh
index a8e9047a02..0ae6187d7c 100755
--- a/Tools/sitl_run.sh
+++ b/Tools/sitl_run.sh
@@ -98,16 +98,10 @@ pushd "$rootfs" >/dev/null
 # Do not exit on failure now from here on because we want the complete cleanup
 set +e
 
-# Use the new unified rcS for the supported models
-# (All models will be transitioned over)
-if [[ ($rcS_path == posix-configs/SITL/init/ekf2 || $rcS_path == posix-configs/SITL/init/lpe)
-	&& ($model == "iris" || $model == "typhoon_h480") ]]; then
-	echo "Using new unified rcS for $model"
-	sitl_command="$sitl_bin $no_pxh $src_path/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t $src_path/test_data"
-elif [[ ${model} == tests* ]]; then
+if [[ ${model} == tests* ]]; then
 	sitl_command="$sitl_bin $no_pxh $src_path/ROMFS/px4fmu_test -s ${src_path}/${rcS_path}/${model} -t $src_path/test_data"
 else
-	sitl_command="$sitl_bin $no_pxh $src_path/ROMFS/px4fmu_common -s ${src_path}/${rcS_path}/${model} -t $src_path/test_data"
+	sitl_command="$sitl_bin $no_pxh $src_path/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t $src_path/test_data"
 fi
 
 echo SITL COMMAND: $sitl_command
diff --git a/launch/iris_env.sh b/launch/iris_env.sh
deleted file mode 100644
index bfaeeb39cc..0000000000
--- a/launch/iris_env.sh
+++ /dev/null
@@ -1,2 +0,0 @@
-#!/bin/bash
-export PX4_SIM_MODEL="iris"
diff --git a/launch/mavros_posix_sitl.launch b/launch/mavros_posix_sitl.launch
index 6590d20a8b..31b93fa15d 100644
--- a/launch/mavros_posix_sitl.launch
+++ b/launch/mavros_posix_sitl.launch
@@ -14,7 +14,6 @@
     <arg name="vehicle" default="iris"/>
     <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
     <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
-    <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>
 
     <!-- gazebo configs -->
     <arg name="gui" default="true"/>
@@ -38,7 +37,6 @@
         <arg name="world" value="$(arg world)"/>
         <arg name="vehicle" value="$(arg vehicle)"/>
         <arg name="sdf" value="$(arg sdf)"/>
-        <arg name="rcS" value="$(arg rcS)"/>
         <arg name="gui" value="$(arg gui)"/>
         <arg name="interactive" value="$(arg interactive)"/>
         <arg name="debug" value="$(arg debug)"/>
diff --git a/launch/multi_uav_mavros_sitl.launch b/launch/multi_uav_mavros_sitl.launch
index 9de487a76a..f973dd2962 100644
--- a/launch/multi_uav_mavros_sitl.launch
+++ b/launch/multi_uav_mavros_sitl.launch
@@ -33,7 +33,6 @@
             <arg name="P" value="0"/>
             <arg name="Y" value="0"/>
             <arg name="vehicle" value="$(arg vehicle)"/>
-            <arg name="rcS" value="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>
             <arg name="mavlink_udp_port" value="14561"/>
             <arg name="ID" value="$(arg ID)"/>
         </include>
@@ -59,7 +58,6 @@
             <arg name="P" value="0"/>
             <arg name="Y" value="0"/>
             <arg name="vehicle" value="$(arg vehicle)"/>
-            <arg name="rcS" value="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>
             <arg name="mavlink_udp_port" value="14562"/>
             <arg name="ID" value="$(arg ID)"/>
         </include>
diff --git a/launch/posix_sitl.launch b/launch/posix_sitl.launch
index b112a72dec..69fe92e984 100644
--- a/launch/posix_sitl.launch
+++ b/launch/posix_sitl.launch
@@ -14,7 +14,8 @@
     <arg name="vehicle" default="iris"/>
     <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
     <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
-    <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>
+    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
+    <env name="PX4_ESTIMATOR" value="$(arg est)" />
 
     <!-- gazebo configs -->
     <arg name="gui" default="true"/>
@@ -28,7 +29,7 @@
     <arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
     <arg     if="$(arg interactive)" name="px4_command_arg1" value=""/>
     <node name="sitl" pkg="px4" type="px4" output="screen"
-        args="$(find px4)/ROMFS/px4fmu_common -s $(arg rcS) $(arg px4_command_arg1)" required="true"/>
+        args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS $(arg px4_command_arg1)" required="true"/>
 
     <!-- Gazebo sim -->
     <include file="$(find gazebo_ros)/launch/empty_world.launch">
@@ -41,8 +42,5 @@
     </include>
     <!-- gazebo model -->
     <node name="$(anon vehicle_spawn)" pkg="gazebo_ros" type="spawn_model" output="screen" args="-sdf -file $(arg sdf) -model $(arg vehicle) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
-
-    <!-- This will set the environment variable needed to select iris in the startup. -->
-    <machine name="px4" env-loader="iris_env.sh" address="none" />
 </launch>
 
diff --git a/launch/single_vehicle_spawn.launch b/launch/single_vehicle_spawn.launch
index 3dc92ef5f5..7fe1d0b492 100644
--- a/launch/single_vehicle_spawn.launch
+++ b/launch/single_vehicle_spawn.launch
@@ -13,7 +13,8 @@
     <arg name="est" default="ekf2"/>
     <arg name="vehicle" default="iris"/>
     <arg name="ID" default="1"/>
-    <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>
+    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
+    <env name="PX4_ESTIMATOR" value="$(arg est)" />
     <arg name="mavlink_udp_port" default="14560"/>
     <!-- PX4 configs -->
     <arg name="interactive" default="true"/>
@@ -23,7 +24,7 @@
     <!-- PX4 SITL -->
     <arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
     <arg     if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
-    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s $(arg rcS) -i $(arg ID) $(arg px4_command_arg1)">
+    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
     </node>
     <!-- spawn vehicle -->
     <node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-urdf -param rotors_description -model $(arg vehicle)_$(arg ID) -package_to_model -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
diff --git a/posix-configs/SITL/init/ekf2/hippocampus b/posix-configs/SITL/init/ekf2/hippocampus
deleted file mode 100644
index 9470905928..0000000000
--- a/posix-configs/SITL/init/ekf2/hippocampus
+++ /dev/null
@@ -1,41 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-param set CAL_GYRO0_ID 2293768
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set COM_DISARM_LAND 0
-param set MAV_TYPE 3
-param set SDLOG_DIRS_MAX 7
-param set SYS_AUTOSTART 4010
-param set SYS_RESTART_TYPE 2
-dataman start
-
-simulator start -s
-
-pwm_out_sim start
-mixer load /dev/pwm_output0 etc/mixers/uuv_quad_x.mix
-
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-
-sleep 1
-
-sensors start
-commander start
-ekf2 start
-
-mavlink start -u 14556 -r 4000000
-mavlink start -u 14557 -r 4000000 -m onboard -o 14540
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
-
-logger start -r 100 -e
-mavlink boot_complete
diff --git a/posix-configs/SITL/init/ekf2/iris b/posix-configs/SITL/init/ekf2/iris
deleted file mode 100644
index b5a829d0bc..0000000000
--- a/posix-configs/SITL/init/ekf2/iris
+++ /dev/null
@@ -1,83 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_ID 1310728
-param set CAL_ACC1_XOFF 0.01
-param set CAL_GYRO0_ID 2293768
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_MAG0_ID 196616
-param set CAL_MAG0_XOFF 0.01
-param set COM_DISARM_LAND 3
-param set COM_OBL_ACT 2
-param set COM_OBL_RC_ACT 0
-param set COM_OF_LOSS_T 5
-param set COM_RC_IN_MODE 1
-param set EKF2_AID_MASK 1
-param set EKF2_ANGERR_INIT 0.01
-param set EKF2_GBIAS_INIT 0.01
-param set EKF2_HGT_MODE 0
-param set EKF2_MAG_TYPE 1
-param set MAV_TYPE 2
-param set MC_PITCH_P 6
-param set MC_PITCHRATE_P 0.2
-param set MC_ROLL_P 6
-param set MC_ROLLRATE_P 0.2
-param set MIS_TAKEOFF_ALT 2.5
-param set MPC_HOLD_MAX_Z 2.0
-param set MPC_Z_VEL_I 0.15
-param set MPC_Z_VEL_P 0.6
-param set NAV_ACC_RAD 2.0
-param set NAV_DLL_ACT 2
-param set RTL_DESCEND_ALT 5.0
-param set RTL_LAND_DELAY 5
-param set RTL_RETURN_ALT 30.0
-param set SDLOG_DIRS_MAX 7
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set SYS_AUTOSTART 4010
-param set SYS_MC_EST_GROUP 2
-param set SYS_RESTART_TYPE 2
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-pwm_out_sim start
-sensors start
-commander start
-land_detector start multicopter
-navigator start
-ekf2 start
-mc_pos_control start
-mc_att_control start
-mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
-mavlink start -x -u 14556 -r 4000000
-mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 50 -s ATTITUDE -u 14556
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/ekf2/iris_irlock b/posix-configs/SITL/init/ekf2/iris_irlock
deleted file mode 100644
index 2e856c25db..0000000000
--- a/posix-configs/SITL/init/ekf2/iris_irlock
+++ /dev/null
@@ -1,85 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_ID 1310728
-param set CAL_ACC1_XOFF 0.01
-param set CAL_GYRO0_ID 2293768
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_MAG0_ID 196616
-param set CAL_MAG0_XOFF 0.01
-param set COM_DISARM_LAND 3
-param set COM_OBL_ACT 2
-param set COM_OBL_RC_ACT 0
-param set COM_OF_LOSS_T 5
-param set COM_RC_IN_MODE 1
-param set EKF2_AID_MASK 1
-param set EKF2_ANGERR_INIT 0.01
-param set EKF2_GBIAS_INIT 0.01
-param set EKF2_HGT_MODE 0
-param set EKF2_MAG_TYPE 1
-param set MAV_TYPE 2
-param set MC_PITCH_P 6
-param set MC_PITCHRATE_P 0.2
-param set MC_ROLL_P 6
-param set MC_ROLLRATE_P 0.2
-param set MIS_TAKEOFF_ALT 2.5
-param set MPC_HOLD_MAX_Z 2.0
-param set MPC_Z_VEL_I 0.15
-param set MPC_Z_VEL_P 0.6
-param set NAV_ACC_RAD 2.0
-param set NAV_DLL_ACT 2
-param set RTL_DESCEND_ALT 5.0
-param set RTL_LAND_DELAY 5
-param set RTL_RETURN_ALT 30.0
-param set SDLOG_DIRS_MAX 7
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set SYS_AUTOSTART 4010
-param set SYS_MC_EST_GROUP 2
-param set SYS_RESTART_TYPE 2
-
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-pwm_out_sim start
-sensors start
-commander start
-land_detector start multicopter
-navigator start
-ekf2 start
-landing_target_estimator start
-mc_pos_control start
-mc_att_control start
-mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
-mavlink start -u 14556 -r 4000000
-mavlink start -u 14557 -r 4000000 -m onboard -o 14540
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 50 -s ATTITUDE -u 14556
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/ekf2/iris_opt_flow b/posix-configs/SITL/init/ekf2/iris_opt_flow
deleted file mode 100644
index cd1e2dac52..0000000000
--- a/posix-configs/SITL/init/ekf2/iris_opt_flow
+++ /dev/null
@@ -1,89 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-param set MAV_TYPE 2
-param set SYS_AUTOSTART 4010
-param set SYS_RESTART_TYPE 2
-param set SYS_MC_EST_GROUP 2
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_GYRO0_ID 2293768
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_XOFF 0.01
-param set CAL_MAG0_XOFF 0.01
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
-param set COM_DISARM_LAND 3
-param set NAV_ACC_RAD 2.0
-param set COM_OF_LOSS_T 5
-param set COM_OBL_ACT 2
-param set COM_OBL_RC_ACT 0
-param set RTL_RETURN_ALT 30.0
-param set RTL_DESCEND_ALT 5.0
-param set RTL_LAND_DELAY 5
-param set SDLOG_DIRS_MAX 7
-param set MIS_TAKEOFF_ALT 2.5
-param set MC_ROLLRATE_P 0.2
-param set MC_PITCHRATE_P 0.2
-param set MC_PITCH_P 6
-param set MC_ROLL_P 6
-param set MPC_HOLD_MAX_Z 2.0
-param set MPC_Z_VEL_P 0.6
-param set MPC_Z_VEL_I 0.15
-param set EKF2_GBIAS_INIT 0.01
-param set EKF2_ANGERR_INIT 0.01
-param set EKF2_MAG_TYPE 1
-param set EKF2_AID_MASK 2
-param set EKF2_HGT_MODE 0
-param set EKF2_EV_DELAY 5
-param set EKF2_EVP_NOISE 0.05
-param set EKF2_EVA_NOISE 0.05
-param set MPC_ALT_MODE 2
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-pwm_out_sim start
-sensors start
-commander start
-land_detector start multicopter
-navigator start
-ekf2 start
-mc_pos_control start
-mc_att_control start
-mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
-mavlink start -x -u 14556 -r 4000000
-mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 50 -s ATTITUDE -u 14556
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-mavlink stream -r 10 -s DISTANCE_SENSOR -u 14556
-mavlink stream -r 10 -s VISION_POSITION_ESTIMATE -u 14556
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/ekf2/iris_rplidar b/posix-configs/SITL/init/ekf2/iris_rplidar
deleted file mode 100644
index b5a829d0bc..0000000000
--- a/posix-configs/SITL/init/ekf2/iris_rplidar
+++ /dev/null
@@ -1,83 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_ID 1310728
-param set CAL_ACC1_XOFF 0.01
-param set CAL_GYRO0_ID 2293768
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_MAG0_ID 196616
-param set CAL_MAG0_XOFF 0.01
-param set COM_DISARM_LAND 3
-param set COM_OBL_ACT 2
-param set COM_OBL_RC_ACT 0
-param set COM_OF_LOSS_T 5
-param set COM_RC_IN_MODE 1
-param set EKF2_AID_MASK 1
-param set EKF2_ANGERR_INIT 0.01
-param set EKF2_GBIAS_INIT 0.01
-param set EKF2_HGT_MODE 0
-param set EKF2_MAG_TYPE 1
-param set MAV_TYPE 2
-param set MC_PITCH_P 6
-param set MC_PITCHRATE_P 0.2
-param set MC_ROLL_P 6
-param set MC_ROLLRATE_P 0.2
-param set MIS_TAKEOFF_ALT 2.5
-param set MPC_HOLD_MAX_Z 2.0
-param set MPC_Z_VEL_I 0.15
-param set MPC_Z_VEL_P 0.6
-param set NAV_ACC_RAD 2.0
-param set NAV_DLL_ACT 2
-param set RTL_DESCEND_ALT 5.0
-param set RTL_LAND_DELAY 5
-param set RTL_RETURN_ALT 30.0
-param set SDLOG_DIRS_MAX 7
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set SYS_AUTOSTART 4010
-param set SYS_MC_EST_GROUP 2
-param set SYS_RESTART_TYPE 2
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-pwm_out_sim start
-sensors start
-commander start
-land_detector start multicopter
-navigator start
-ekf2 start
-mc_pos_control start
-mc_att_control start
-mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
-mavlink start -x -u 14556 -r 4000000
-mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 50 -s ATTITUDE -u 14556
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/ekf2/iris_vision b/posix-configs/SITL/init/ekf2/iris_vision
deleted file mode 100644
index 33a5fa0c4d..0000000000
--- a/posix-configs/SITL/init/ekf2/iris_vision
+++ /dev/null
@@ -1,88 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-param set MAV_TYPE 2
-param set SYS_AUTOSTART 4010
-param set SYS_RESTART_TYPE 2
-param set SYS_MC_EST_GROUP 2
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_GYRO0_ID 2293768
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_XOFF 0.01
-param set CAL_MAG0_XOFF 0.01
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
-param set COM_DISARM_LAND 3
-param set NAV_ACC_RAD 2.0
-param set COM_OF_LOSS_T 5
-param set COM_OBL_ACT 2
-param set COM_OBL_RC_ACT 0
-param set RTL_RETURN_ALT 30.0
-param set RTL_DESCEND_ALT 5.0
-param set RTL_LAND_DELAY 5
-param set SDLOG_DIRS_MAX 7
-param set MIS_TAKEOFF_ALT 2.5
-param set MC_ROLLRATE_P 0.2
-param set MC_PITCHRATE_P 0.2
-param set MC_PITCH_P 6
-param set MC_ROLL_P 6
-param set MPC_HOLD_MAX_Z 2.0
-param set MPC_Z_VEL_P 0.6
-param set MPC_Z_VEL_I 0.15
-param set EKF2_GBIAS_INIT 0.01
-param set EKF2_ANGERR_INIT 0.01
-param set EKF2_MAG_TYPE 1
-param set EKF2_AID_MASK 8
-param set EKF2_HGT_MODE 0
-param set EKF2_EV_DELAY 5
-param set EKF2_EVP_NOISE 0.05
-param set EKF2_EVA_NOISE 0.05
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-pwm_out_sim start
-sensors start
-commander start
-land_detector start multicopter
-navigator start
-ekf2 start
-mc_pos_control start
-mc_att_control start
-mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
-mavlink start -x -u 14556 -r 4000000
-mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 50 -s ATTITUDE -u 14556
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-mavlink stream -r 10 -s DISTANCE_SENSOR -u 14556
-mavlink stream -r 10 -s VISION_POSITION_ESTIMATE -u 14556
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/ekf2/multiple_iris b/posix-configs/SITL/init/ekf2/multiple_iris
deleted file mode 100644
index addd172b8f..0000000000
--- a/posix-configs/SITL/init/ekf2/multiple_iris
+++ /dev/null
@@ -1,82 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_ID 1310728
-param set CAL_ACC1_XOFF 0.01
-param set CAL_GYRO0_ID 2293768
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_MAG0_ID 196616
-param set CAL_MAG0_XOFF 0.01
-param set COM_DISARM_LAND 3
-param set COM_OBL_ACT 2
-param set COM_OBL_RC_ACT 0
-param set COM_OF_LOSS_T 5
-param set COM_RC_IN_MODE 1
-param set EKF2_AID_MASK 1
-param set EKF2_ANGERR_INIT 0.01
-param set EKF2_GBIAS_INIT 0.01
-param set EKF2_HGT_MODE 0
-param set EKF2_MAG_TYPE 1
-param set MAV_TYPE 2
-param set MC_PITCH_P 6
-param set MC_PITCHRATE_P 0.2
-param set MC_ROLL_P 6
-param set MC_ROLLRATE_P 0.2
-param set MIS_TAKEOFF_ALT 2.5
-param set MPC_HOLD_MAX_Z 2.0
-param set MPC_Z_VEL_I 0.15
-param set MPC_Z_VEL_P 0.6
-param set NAV_ACC_RAD 2.0
-param set NAV_DLL_ACT 2
-param set RTL_DESCEND_ALT 5.0
-param set RTL_LAND_DELAY 5
-param set RTL_RETURN_ALT 30.0
-param set SDLOG_DIRS_MAX 7
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set SYS_AUTOSTART 4010
-param set SYS_MC_EST_GROUP 2
-param set SYS_RESTART_TYPE 2
-replay tryapplyparams
-simulator start -s -u _SIMPORT_
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-pwm_out_sim start
-sensors start
-commander start
-land_detector start multicopter
-navigator start
-ekf2 start
-mc_pos_control start
-mc_att_control start
-mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
-mavlink start -x -u _MAVPORT_ -r 4000000 -o _MAVOPORT_
-mavlink start -x -u _MAVPORT2_ -r 4000000 -m onboard -o _MAVOPORT2_
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u _MAVPORT_
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u _MAVPORT_
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u _MAVPORT_
-mavlink stream -r 50 -s ATTITUDE -u _MAVPORT_
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u _MAVPORT_
-mavlink stream -r 50 -s ATTITUDE_TARGET -u _MAVPORT_
-mavlink stream -r 20 -s RC_CHANNELS -u _MAVPORT_
-mavlink stream -r 250 -s HIGHRES_IMU -u _MAVPORT_
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u _MAVPORT_
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/ekf2/plane b/posix-configs/SITL/init/ekf2/plane
deleted file mode 100644
index 7b776dce39..0000000000
--- a/posix-configs/SITL/init/ekf2/plane
+++ /dev/null
@@ -1,106 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-dataman start
-
-param set BAT_N_CELLS 3
-
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_ID 1310728
-param set CAL_ACC1_XOFF 0.01
-param set CAL_GYRO0_ID 2293768
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_MAG0_ID 196616
-param set CAL_MAG0_XOFF 0.01
-
-param set COM_POS_FS_DELAY 5
-param set COM_POS_FS_EPH 25
-param set COM_POS_FS_EPV 50
-param set COM_POS_FS_GAIN 0
-param set COM_POS_FS_PROB 1
-param set COM_RC_IN_MODE 1
-param set COM_VEL_FS_EVH 5
-
-param set EKF2_AID_MASK 1
-param set EKF2_ANGERR_INIT 0.01
-param set EKF2_ARSP_THR 8.0
-param set EKF2_FUSE_BETA 1
-param set EKF2_GBIAS_INIT 0.01
-param set EKF2_HGT_MODE 0
-param set EKF2_MAG_ACCLIM 0
-param set EKF2_MAG_TYPE 1
-param set EKF2_MAG_YAWLIM 0
-
-param set FW_LND_ANG 8
-param set FW_P_TC 0.5
-param set FW_PR_FF 0.40
-param set FW_PR_I 0.05
-param set FW_PR_P 0.05
-param set FW_R_TC 0.7
-param set FW_RR_FF 0.20
-param set FW_RR_I 0.02
-param set FW_RR_P 0.22
-param set FW_THR_IDLE 0.15
-param set FW_W_EN 1
-
-param set MAV_TYPE 1
-param set MIS_LTRMIN_ALT 30
-param set MIS_TAKEOFF_ALT 30
-param set NAV_ACC_RAD 15.0
-param set NAV_DLL_ACT 2
-param set NAV_LOITER_RAD 50
-
-param set RWTO_TKOFF 1
-
-param set SDLOG_DIRS_MAX 7
-
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set SENS_DPRES_OFF 0.001
-
-param set SYS_AUTOSTART 3033
-param set SYS_MC_EST_GROUP 2
-param set SYS_RESTART_TYPE 2
-
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-measairspeedsim start
-pwm_out_sim start
-sensors start
-commander start
-navigator start
-ekf2 start
-fw_pos_control_l1 start
-fw_att_control start
-land_detector start fixedwing
-wind_estimator start
-mixer load /dev/pwm_output0 etc/mixers-sitl/plane_sitl.main.mix
-mavlink start -x -u 14556 -r 2000000
-mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
-mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 80 -s ATTITUDE -u 14556
-mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/ekf2/rover b/posix-configs/SITL/init/ekf2/rover
deleted file mode 100644
index 1c4c4a08ba..0000000000
--- a/posix-configs/SITL/init/ekf2/rover
+++ /dev/null
@@ -1,88 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_ID 1310728
-param set CAL_ACC1_XOFF 0.01
-param set CAL_GYRO0_ID 2293768
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_MAG0_ID 196616
-param set CAL_MAG0_XOFF 0.01
-param set COM_RC_IN_MODE 1
-param set EKF2_ANGERR_INIT 0.01
-param set EKF2_GBIAS_INIT 0.01
-param set EKF2_MAG_TYPE 1
-param set GND_L1_DIST 5
-param set GND_SP_CTRL_MODE 1
-param set GND_SPEED_D 3
-param set GND_SPEED_I 0.001
-param set GND_SPEED_IMAX 0.125
-param set GND_SPEED_P 0.25
-param set GND_SPEED_THR_SC 1
-param set GND_THR_CRUISE 0.3
-param set GND_THR_IDLE 0
-param set GND_THR_MAX 0.5
-param set GND_THR_MIN 0
-param set GND_SPEED_TRIM 4
-param set GND_WR_D 1.2
-param set GND_WR_I 0.9674
-param set GND_WR_IMAX 0.1
-param set GND_WR_P 2
-param set MAV_TYPE 10
-param set MIS_LTRMIN_ALT 0.01
-param set MIS_TAKEOFF_ALT 0.01
-param set NAV_ACC_RAD 0.5
-param set NAV_DLL_ACT 0
-param set NAV_LOITER_RAD 2
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set SENS_DPRES_OFF 0.001
-param set SDLOG_DIRS_MAX 7
-param set SYS_AUTOSTART 50002
-param set SYS_MC_EST_GROUP 2
-param set SYS_RESTART_TYPE 2
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-measairspeedsim start
-pwm_out_sim start
-sleep 1
-sensors start
-commander start
-land_detector start ugv
-navigator start
-ekf2 start
-gnd_pos_control start
-gnd_att_control start
-mixer load /dev/pwm_output0 etc/mixers-sitl/rover_sitl.main.mix
-mavlink start -x -u 14556 -r 4000000
-mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
-mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 80 -s ATTITUDE -u 14556
-mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/ekf2/solo b/posix-configs/SITL/init/ekf2/solo
deleted file mode 100644
index 82cd222ad3..0000000000
--- a/posix-configs/SITL/init/ekf2/solo
+++ /dev/null
@@ -1,80 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_ID 1310728
-param set CAL_ACC1_XOFF 0.01
-param set CAL_GYRO0_ID 2293768
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_MAG0_ID 196616
-param set CAL_MAG0_XOFF 0.01
-param set COM_DISARM_LAND 3
-param set COM_RC_IN_MODE 1
-param set EKF2_AID_MASK 1
-param set EKF2_ANGERR_INIT 0.01
-param set EKF2_GBIAS_INIT 0.01
-param set EKF2_HGT_MODE 0
-param set EKF2_MAG_TYPE 1
-param set MAV_TYPE 2
-param set MC_PITCH_P 6
-param set MC_PITCHRATE_P 0.15
-param set MC_ROLL_P 6
-param set MC_ROLLRATE_P 0.15
-param set MIS_TAKEOFF_ALT 2.5
-param set MPC_HOLD_MAX_Z 2.0
-param set MPC_Z_VEL_I 0.15
-param set MPC_Z_VEL_P 0.6
-param set NAV_ACC_RAD 2.0
-param set NAV_DLL_ACT 2
-param set RTL_DESCEND_ALT 10.0
-param set RTL_LAND_DELAY 0
-param set RTL_RETURN_ALT 30.0
-param set SDLOG_DIRS_MAX 7
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set SYS_AUTOSTART 4010
-param set SYS_MC_EST_GROUP 2
-param set SYS_RESTART_TYPE 2
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-pwm_out_sim start
-sensors start
-commander start
-land_detector start multicopter
-navigator start
-ekf2 start
-mc_pos_control start
-mc_att_control start
-mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix
-mavlink start -x -u 14556 -r 4000000
-mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 50 -s ATTITUDE -u 14556
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/ekf2/standard_vtol b/posix-configs/SITL/init/ekf2/standard_vtol
deleted file mode 100644
index 4a7babc6b7..0000000000
--- a/posix-configs/SITL/init/ekf2/standard_vtol
+++ /dev/null
@@ -1,103 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_ID 1310728
-param set CAL_ACC1_XOFF 0.01
-param set CAL_GYRO0_ID 2293768
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_MAG0_ID 196616
-param set CAL_MAG0_XOFF 0.01
-param set COM_DISARM_LAND 5
-param set COM_RC_IN_MODE 1
-param set EKF2_AID_MASK 1
-param set EKF2_ANGERR_INIT 0.01
-param set EKF2_GBIAS_INIT 0.01
-param set EKF2_HGT_MODE 0
-param set EKF2_MAG_TYPE 1
-param set FW_AIRSPD_MAX 25
-param set FW_AIRSPD_MIN 14
-param set FW_AIRSPD_TRIM 16
-param set MAV_TYPE 22
-param set MC_PITCH_P 6
-param set MC_PITCHRATE_P 0.2
-param set MC_ROLL_P 6
-param set MC_ROLLRATE_P 0.3
-param set MIS_LTRMIN_ALT 10
-param set MIS_TAKEOFF_ALT 10
-param set MIS_YAW_TMT 10
-param set MPC_ACC_HOR_MAX 2
-param set MPC_ACC_HOR_MAX 2.0
-param set MPC_THR_MIN 0.1
-param set MPC_TKO_SPEED 1.0
-param set MPC_XY_P 0.8
-param set MPC_XY_VEL_D 0.005
-param set MPC_XY_VEL_I 0.2
-param set MPC_XY_VEL_P 0.15
-param set MPC_Z_VEL_I 0.15
-param set MPC_Z_VEL_MAX_DN 1.5
-param set MPC_Z_VEL_P 0.6
-param set NAV_ACC_RAD 5.0
-param set NAV_DLL_ACT 2
-param set NAV_LOITER_RAD 80
-param set RTL_DESCEND_ALT 10.0
-param set RTL_LAND_DELAY 0
-param set RTL_RETURN_ALT 30.0
-param set SDLOG_DIRS_MAX 7
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set SENS_DPRES_OFF 0.001
-param set SYS_AUTOSTART 13006
-param set SYS_MC_EST_GROUP 2
-param set SYS_RESTART_TYPE 2
-param set VT_F_TRANS_THR 0.75
-param set VT_MOT_COUNT 4
-param set VT_TYPE 2
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-measairspeedsim start
-pwm_out_sim start
-sensors start
-commander start
-land_detector start vtol
-navigator start
-ekf2 start
-vtol_att_control start
-mc_pos_control start
-mc_att_control start
-fw_pos_control_l1 start
-fw_att_control start
-wind_estimator start
-mixer load /dev/pwm_output0 etc/mixers-sitl/standard_vtol_sitl.main.mix
-mavlink start -x -u 14556 -r 2000000 -f
-mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 -f
-mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14557
-mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 80 -s ATTITUDE -u 14556
-mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/ekf2/tailsitter b/posix-configs/SITL/init/ekf2/tailsitter
deleted file mode 100644
index 059487a9a1..0000000000
--- a/posix-configs/SITL/init/ekf2/tailsitter
+++ /dev/null
@@ -1,85 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_ID 1310728
-param set CAL_ACC1_XOFF 0.01
-param set CAL_GYRO0_ID 2293768
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_MAG0_ID 196616
-param set CAL_MAG0_XOFF 0.01
-param set COM_RC_IN_MODE 1
-param set EKF2_AID_MASK 1
-param set EKF2_ANGERR_INIT 0.01
-param set EKF2_GBIAS_INIT 0.01
-param set EKF2_HGT_MODE 0
-param set EKF2_MAG_TYPE 1
-param set MAV_TYPE 20
-param set MC_PITCH_P 6
-param set MC_PITCHRATE_P 0.2
-param set MC_ROLL_P 6
-param set MC_ROLLRATE_P 0.2
-param set MPC_XY_P 0.15
-param set MPC_XY_VEL_D 0.005
-param set MPC_XY_VEL_P 0.05
-param set MPC_Z_VEL_I 0.15
-param set MPC_Z_VEL_P 0.8
-param set MPC_LAND_SPEED 1.5
-param set NAV_DLL_ACT 2
-param set SDLOG_DIRS_MAX 7
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set SENS_DPRES_OFF 0.001
-param set SYS_AUTOSTART 13003
-param set SYS_MC_EST_GROUP 2
-param set SYS_RESTART_TYPE 2
-param set VT_TYPE 0
-param set VT_F_TRANS_DUR 1.5
-param set VT_F_TRANS_THR 0.7
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-measairspeedsim start
-pwm_out_sim start
-sensors start
-commander start
-land_detector start vtol
-navigator start
-ekf2 start
-vtol_att_control start
-mc_pos_control start
-mc_att_control start
-fw_pos_control_l1 start
-fw_att_control start
-wind_estimator start
-mixer load /dev/pwm_output0 etc/mixers-sitl/quad_x_vtol.main.mix
-mavlink start -x -u 14556 -r 2000000
-mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
-mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 80 -s ATTITUDE -u 14556
-mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/ekf2/tiltrotor b/posix-configs/SITL/init/ekf2/tiltrotor
deleted file mode 100644
index 5160a8cb43..0000000000
--- a/posix-configs/SITL/init/ekf2/tiltrotor
+++ /dev/null
@@ -1,120 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-dataman start
-
-param set BAT_N_CELLS 3
-
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_ID 1310728
-param set CAL_ACC1_XOFF 0.01
-param set CAL_GYRO0_ID 2293768
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_MAG0_ID 196616
-param set CAL_MAG0_XOFF 0.01
-
-param set COM_DISARM_LAND 5
-param set COM_RC_IN_MODE 1
-
-param set EKF2_AID_MASK 1
-param set EKF2_ANGERR_INIT 0.01
-param set EKF2_GBIAS_INIT 0.01
-param set EKF2_HGT_MODE 0
-param set EKF2_MAG_TYPE 1
-
-param set FW_AIRSPD_MAX 25
-param set FW_AIRSPD_MIN 14
-param set FW_AIRSPD_TRIM 16
-
-param set MAV_TYPE 21
-
-param set MC_PITCH_P 6
-param set MC_PITCHRATE_P 0.2
-param set MC_ROLL_P 6
-param set MC_ROLLRATE_P 0.3
-
-param set MIS_LTRMIN_ALT 10
-param set MIS_TAKEOFF_ALT 10
-param set MIS_YAW_TMT 10
-
-param set MPC_ACC_HOR_MAX 2
-param set MPC_ACC_HOR_MAX 2.0
-param set MPC_TKO_SPEED 1.0
-param set MPC_XY_P 0.8
-param set MPC_XY_VEL_D 0.005
-param set MPC_XY_VEL_I 0.2
-param set MPC_XY_VEL_P 0.15
-param set MPC_Z_VEL_I 0.15
-param set MPC_Z_VEL_MAX_DN 1.5
-param set MPC_Z_VEL_P 0.6
-
-param set NAV_ACC_RAD 5.0
-param set NAV_DLL_ACT 2
-param set NAV_LOITER_RAD 80
-
-param set RTL_DESCEND_ALT 10.0
-param set RTL_LAND_DELAY 0
-param set RTL_RETURN_ALT 30.0
-
-param set SDLOG_DIRS_MAX 7
-
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set SENS_DPRES_OFF 0.001
-
-param set SYS_AUTOSTART 13012
-param set SYS_MC_EST_GROUP 2
-param set SYS_RESTART_TYPE 2
-
-param set VT_MOT_COUNT 4
-param set VT_F_TRANS_THR 0.75
-param set VT_TYPE 1
-param set VT_TILT_FW 3.1415
-param set VT_TILT_TRANS 1.2
-
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-measairspeedsim start
-pwm_out_sim start
-sensors start
-commander start
-land_detector start vtol
-navigator start
-ekf2 start
-vtol_att_control start
-mc_pos_control start
-mc_att_control start
-fw_pos_control_l1 start
-fw_att_control start
-wind_estimator start
-mixer load /dev/pwm_output0 etc/mixers-sitl/tiltrotor_sitl.main.mix
-mavlink start -x -u 14556 -r 2000000 -f
-mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 -f
-mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14557
-mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 80 -s ATTITUDE -u 14556
-mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/ekf2/typhoon_h480 b/posix-configs/SITL/init/ekf2/typhoon_h480
deleted file mode 100644
index 34dc0e81a0..0000000000
--- a/posix-configs/SITL/init/ekf2/typhoon_h480
+++ /dev/null
@@ -1,93 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC0_XOFF 0.001
-param set CAL_ACC0_XSCALE 1.0001
-param set CAL_ACC0_YOFF -0.001
-param set CAL_ACC0_YSCALE 1.0001
-param set CAL_ACC0_ZOFF 0.001
-param set CAL_ACC0_ZSCALE 1.0001
-param set CAL_ACC1_ID 1310728
-param set CAL_ACC1_XOFF 0.001
-param set CAL_GYRO0_ID 2293768
-param set CAL_GYRO0_XOFF 0.001
-param set CAL_MAG0_ID 196616
-param set CAL_MAG0_XOFF 0.001
-param set COM_DISARM_LAND 3
-param set COM_RC_IN_MODE 1
-param set EKF2_AID_MASK 1
-param set EKF2_ANGERR_INIT 0.01
-param set EKF2_GBIAS_INIT 0.01
-param set EKF2_HGT_MODE 0
-param set EKF2_MAG_TYPE 1
-param set MAV_TYPE 13
-param set MC_PITCH_P 6
-param set MC_PITCHRATE_P 0.1
-param set MC_ROLL_P 6
-param set MC_ROLLRATE_P 0.05
-param set MIS_TAKEOFF_ALT 2.5
-param set MPC_HOLD_MAX_Z 2.0
-param set MPC_XY_VEL_I 0.2
-param set MPC_XY_VEL_P 0.15
-param set MPC_Z_VEL_I 0.15
-param set MPC_Z_VEL_P 0.6
-param set NAV_ACC_RAD 2.0
-param set NAV_DLL_ACT 2
-param set RTL_DESCEND_ALT 10.0
-param set RTL_LAND_DELAY 0
-param set RTL_RETURN_ALT 30.0
-param set SDLOG_DIRS_MAX 7
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set SYS_AUTOSTART 6001
-param set SYS_MC_EST_GROUP 2
-param set SYS_RESTART_TYPE 2
-param set TRIG_INTERFACE 3
-param set TRIG_MODE 4
-param set MNT_MODE_IN 0
-param set MAV_PROTO_VER 2
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-pwm_out_sim start
-sensors start
-commander start
-land_detector start multicopter
-navigator start
-ekf2 start
-mc_pos_control start
-mc_att_control start
-mixer load /dev/pwm_output0 etc/mixers/hexa_x.main.mix
-mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
-mavlink start -x -u 14556 -r 4000000
-mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
-mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 50 -s ATTITUDE -u 14556
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u 14556
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14557
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u 14557
-logger start -e -t
-vmount start
-camera_trigger start
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/inav/iris b/posix-configs/SITL/init/inav/iris
deleted file mode 100644
index 920f03ee59..0000000000
--- a/posix-configs/SITL/init/inav/iris
+++ /dev/null
@@ -1,81 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-param set MAV_TYPE 2
-param set MC_PITCHRATE_P 0.15
-param set MC_ROLLRATE_P 0.15
-param set MC_YAW_P 2.0
-param set MC_YAWRATE_P 0.35
-param set SYS_AUTOSTART 4010
-param set SYS_RESTART_TYPE 2
-param set SYS_MC_EST_GROUP 0
-dataman start
-param set CAL_GYRO0_ID 2293768
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_XOFF 0.01
-param set CAL_MAG0_XOFF 0.01
-param set MPC_XY_P 0.4
-param set MPC_XY_VEL_P 0.2
-param set MPC_XY_VEL_D 0.005
-param set MPP_XY_P 1.0
-param set MPP_XY_FF 0.0
-param set MPP_XY_VEL_P 0.01
-param set MPP_XY_VEL_I 0.0
-param set MPP_XY_VEL_D 0.01
-param set MPP_XY_VEL_MAX 2.0
-param set MPP_Z_VEL_P 0.3
-param set MPP_Z_P 2
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set MP_ROLL_P 3
-param set MP_ROLLRATE_P 0.3
-param set MP_ROLLRATE_I 0.001
-param set MP_ROLLRATE_D 0.001
-param set MP_PITCH_P 4
-param set MP_PITCHRATE_P 0.3
-param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-pwm_out_sim start
-sensors start
-commander start
-land_detector start multicopter
-navigator start
-attitude_estimator_q start
-position_estimator_inav start
-mc_pos_control start
-mc_att_control start
-mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix
-mavlink start -x -u 14556 -r 2000000
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 50 -s ATTITUDE -u 14556
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/inav/iris_opt_flow b/posix-configs/SITL/init/inav/iris_opt_flow
deleted file mode 100644
index 965c68fd7d..0000000000
--- a/posix-configs/SITL/init/inav/iris_opt_flow
+++ /dev/null
@@ -1,83 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-param set MAV_TYPE 2
-param set SYS_AUTOSTART 4010
-param set SYS_RESTART_TYPE 2
-param set SYS_MC_EST_GROUP 0
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_GYRO0_ID 2293768
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_XOFF 0.01
-param set CAL_MAG0_XOFF 0.01
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
-param set COM_DISARM_LAND 3
-param set NAV_ACC_RAD 12.0
-param set RTL_RETURN_ALT 30.0
-param set RTL_DESCEND_ALT 10.0
-param set RTL_LAND_DELAY 0
-param set MIS_TAKEOFF_ALT 2.5
-param set MC_ROLLRATE_P 0.3
-param set MC_PITCHRATE_P 0.3
-param set MC_PITCH_P 5.5
-param set MC_ROLL_P 5.5
-param set MC_ROLLRATE_I 0.1
-param set MC_PITCHRATE_I 0.1
-param set MPC_HOLD_MAX_Z 2.0
-param set MPC_Z_VEL_P 0.8
-param set MPC_Z_VEL_I 0.15
-param set MPC_XY_VEL_P 0.15
-param set MPC_XY_VEL_I 0.2
-param set INAV_LIDAR_EST 1
-param set INAV_W_XY_FLOW 1.0
-param set INAV_W_XY_GPS_P 0.0
-param set INAV_W_XY_GPS_V 0.0
-param set INAV_W_Z_GPS_P 0.0
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-pwm_out_sim start
-sensors start
-commander start
-land_detector start multicopter
-navigator start
-attitude_estimator_q start
-position_estimator_inav start
-mc_pos_control start
-mc_att_control start
-mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
-mavlink start -x -u 14556 -r 2000000
-mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
-mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 80 -s ATTITUDE -u 14556
-mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/lpe/hippocampus b/posix-configs/SITL/init/lpe/hippocampus
deleted file mode 100644
index e72fba2870..0000000000
--- a/posix-configs/SITL/init/lpe/hippocampus
+++ /dev/null
@@ -1,41 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-param set CAL_GYRO0_ID 2293768
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set COM_DISARM_LAND 0
-param set MAV_TYPE 3
-param set SDLOG_DIRS_MAX 7
-param set SYS_AUTOSTART 4010
-param set SYS_RESTART_TYPE 2
-dataman start
-
-simulator start -s
-
-pwm_out_sim start
-mixer load /dev/pwm_output0 etc/mixers/uuv_quad_x.mix
-
-gyrosim start
-accelsim start
-barosim start
-
-sleep 1
-
-sensors start
-commander start
-
-attitude_estimator_q start
-
-mavlink start -x -u 14556 -r 4000000
-mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
-
-logger start -r 100 -e
-mavlink boot_complete
diff --git a/posix-configs/SITL/init/lpe/iris b/posix-configs/SITL/init/lpe/iris
deleted file mode 100644
index bab127333e..0000000000
--- a/posix-configs/SITL/init/lpe/iris
+++ /dev/null
@@ -1,84 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-param set MAV_TYPE 2
-param set SYS_AUTOSTART 4010
-param set SYS_RESTART_TYPE 2
-param set SYS_MC_EST_GROUP 1
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_GYRO0_ID 2293768
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_XOFF 0.01
-param set CAL_MAG0_XOFF 0.01
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
-param set COM_DISARM_LAND 3
-param set NAV_ACC_RAD 2.0
-param set COM_OF_LOSS_T 5
-param set COM_OBL_ACT 2
-param set COM_OBL_RC_ACT 0
-param set RTL_RETURN_ALT 30.0
-param set RTL_DESCEND_ALT 5.0
-param set RTL_LAND_DELAY 5
-param set MIS_TAKEOFF_ALT 2.5
-param set MC_ROLLRATE_P 0.2
-param set MC_PITCHRATE_P 0.2
-param set MC_PITCH_P 6
-param set MC_ROLL_P 6
-param set MPC_HOLD_MAX_Z 2.0
-param set MPC_Z_VEL_P 0.6
-param set MPC_Z_VEL_I 0.15
-param set EKF2_GBIAS_INIT 0.01
-param set EKF2_ANGERR_INIT 0.01
-param set SDLOG_DIRS_MAX 7
-# GPS only mode
-param set LPE_FUSION 145
-
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-pwm_out_sim start
-sensors start
-commander start
-land_detector start multicopter
-navigator start
-attitude_estimator_q start
-local_position_estimator start
-mc_pos_control start
-mc_att_control start
-mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
-mavlink start -x -u 14556 -r 4000000
-mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 50 -s ATTITUDE -u 14556
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/lpe/iris_1 b/posix-configs/SITL/init/lpe/iris_1
deleted file mode 100644
index a2e1a61bb3..0000000000
--- a/posix-configs/SITL/init/lpe/iris_1
+++ /dev/null
@@ -1,86 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-param set MAV_SYS_ID 1
-param set MAV_TYPE 2
-param set SYS_AUTOSTART 4010
-param set SYS_RESTART_TYPE 2
-param set SYS_MC_EST_GROUP 1
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_GYRO0_ID 2293768
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_XOFF 0.01
-param set CAL_MAG0_XOFF 0.01
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
-param set COM_DISARM_LAND 3
-param set NAV_ACC_RAD 2.0
-param set COM_OF_LOSS_T 5
-param set COM_OBL_ACT 2
-param set COM_OBL_RC_ACT 0
-param set RTL_RETURN_ALT 30.0
-param set RTL_DESCEND_ALT 5.0
-param set RTL_LAND_DELAY 5
-param set MIS_TAKEOFF_ALT 2.5
-param set MC_ROLLRATE_P 0.2
-param set MC_PITCHRATE_P 0.2
-param set MC_PITCH_P 6
-param set MC_ROLL_P 6
-param set MPC_HOLD_MAX_Z 2.0
-param set MPC_Z_VEL_P 0.6
-param set MPC_Z_VEL_I 0.15
-param set EKF2_GBIAS_INIT 0.01
-param set EKF2_ANGERR_INIT 0.01
-param set SITL_UDP_PRT 14560
-param set SDLOG_DIRS_MAX 7
-# GPS only mode
-param set LPE_FUSION 145
-
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-pwm_out_sim start
-sensors start
-commander start
-land_detector start multicopter
-navigator start
-attitude_estimator_q start
-local_position_estimator start
-mc_pos_control start
-mc_att_control start
-mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
-mavlink start -x -u 14556 -r 4000000
-mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 50 -s ATTITUDE -u 14556
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/lpe/iris_2 b/posix-configs/SITL/init/lpe/iris_2
deleted file mode 100644
index bc0f642d11..0000000000
--- a/posix-configs/SITL/init/lpe/iris_2
+++ /dev/null
@@ -1,86 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-param set MAV_SYS_ID 2
-param set MAV_TYPE 2
-param set SYS_AUTOSTART 4010
-param set SYS_RESTART_TYPE 2
-param set SYS_MC_EST_GROUP 1
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_GYRO0_ID 2293768
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_XOFF 0.01
-param set CAL_MAG0_XOFF 0.01
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
-param set COM_DISARM_LAND 3
-param set NAV_ACC_RAD 2.0
-param set COM_OF_LOSS_T 5
-param set COM_OBL_ACT 2
-param set COM_OBL_RC_ACT 0
-param set RTL_RETURN_ALT 30.0
-param set RTL_DESCEND_ALT 5.0
-param set RTL_LAND_DELAY 5
-param set MIS_TAKEOFF_ALT 2.5
-param set MC_ROLLRATE_P 0.2
-param set MC_PITCHRATE_P 0.2
-param set MC_PITCH_P 6
-param set MC_ROLL_P 6
-param set MPC_HOLD_MAX_Z 2.0
-param set MPC_Z_VEL_P 0.6
-param set MPC_Z_VEL_I 0.15
-param set EKF2_GBIAS_INIT 0.01
-param set EKF2_ANGERR_INIT 0.01
-param set SITL_UDP_PRT 14562
-param set SDLOG_DIRS_MAX 7
-# GPS only mode
-param set LPE_FUSION 145
-
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-pwm_out_sim start
-sensors start
-commander start
-land_detector start multicopter
-navigator start
-attitude_estimator_q start
-local_position_estimator start
-mc_pos_control start
-mc_att_control start
-mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
-mavlink start -x -u 14558 -r 4000000
-mavlink start -x -u 14559 -r 4000000 -m onboard -o 14541
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14558
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14558
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14558
-mavlink stream -r 50 -s ATTITUDE -u 14558
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14558
-mavlink stream -r 50 -s ATTITUDE_TARGET -u 14558
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14558
-mavlink stream -r 20 -s RC_CHANNELS -u 14558
-mavlink stream -r 250 -s HIGHRES_IMU -u 14558
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14558
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/lpe/iris_irlock b/posix-configs/SITL/init/lpe/iris_irlock
deleted file mode 100644
index a624b13c3c..0000000000
--- a/posix-configs/SITL/init/lpe/iris_irlock
+++ /dev/null
@@ -1,93 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-param set MAV_TYPE 2
-param set SYS_AUTOSTART 4010
-param set SYS_RESTART_TYPE 2
-param set SYS_MC_EST_GROUP 1
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_GYRO0_ID 2293768
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_XOFF 0.01
-param set CAL_MAG0_XOFF 0.01
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
-param set COM_DISARM_LAND 3
-param set NAV_ACC_RAD 2.0
-param set COM_OF_LOSS_T 5
-param set COM_OBL_ACT 2
-param set COM_OBL_RC_ACT 0
-param set RTL_RETURN_ALT 30.0
-param set RTL_DESCEND_ALT 5.0
-param set RTL_LAND_DELAY 5
-param set MIS_TAKEOFF_ALT 2.5
-param set MC_ROLLRATE_P 0.2
-param set MC_PITCHRATE_P 0.2
-param set MC_PITCH_P 6
-param set MC_ROLL_P 6
-param set MPC_HOLD_MAX_Z 2.0
-param set MPC_Z_VEL_P 0.6
-param set MPC_Z_VEL_I 0.15
-param set MPC_XY_VEL_P 0.13
-param set MPC_XY_P 1.2
-param set MC_PITCHRATE_MAX 150
-param set MC_ROLLRATE_MAX 150
-param set EKF2_GBIAS_INIT 0.01
-param set EKF2_ANGERR_INIT 0.01
-param set SDLOG_DIRS_MAX 7
-# GPS only mode
-param set LPE_FUSION 145
-param set LPE_EPH_MAX 5
-# enable fusion of landing target velocity
-param set LTEST_MODE 1
-param set PLD_HACC_RAD 0.1
-
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-pwm_out_sim start
-sensors start
-commander start
-land_detector start multicopter
-navigator start
-attitude_estimator_q start
-local_position_estimator start
-landing_target_estimator start
-mc_pos_control start
-mc_att_control start
-mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
-mavlink start -u 14556 -r 4000000
-mavlink start -u 14557 -r 4000000 -m onboard -o 14540
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 50 -s ATTITUDE -u 14556
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/lpe/iris_opt_flow b/posix-configs/SITL/init/lpe/iris_opt_flow
deleted file mode 100644
index aba025b290..0000000000
--- a/posix-configs/SITL/init/lpe/iris_opt_flow
+++ /dev/null
@@ -1,101 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-param set MAV_TYPE 2
-param set SYS_AUTOSTART 4010
-param set SYS_RESTART_TYPE 2
-param set SYS_MC_EST_GROUP 1
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_GYRO0_ID 2293768
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_XOFF 0.01
-param set CAL_MAG0_XOFF 0.01
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
-param set COM_DISARM_LAND 3
-param set NAV_ACC_RAD 2.0
-param set RTL_RETURN_ALT 30.0
-param set RTL_DESCEND_ALT 10.0
-param set RTL_LAND_DELAY 0
-param set MIS_TAKEOFF_ALT 2.5
-param set MC_ROLLRATE_P 0.3
-param set MC_PITCHRATE_P 0.3
-param set MC_PITCH_P 5.5
-param set MC_ROLL_P 5.5
-param set MC_ROLLRATE_I 0.1
-param set MC_PITCHRATE_I 0.1
-param set MPC_HOLD_MAX_Z 2.0
-param set MPC_Z_VEL_P 0.8
-param set MPC_Z_VEL_I 0.15
-param set MPC_XY_VEL_P 0.15
-param set MPC_XY_VEL_I 0.2
-param set SDLOG_DIRS_MAX 7
-
-# changes for optical flow navigation
-param set MC_PITCH_P 5.0
-param set MC_ROLL_P 5.0
-param set MC_ROLLRATE_P 0.2
-param set MC_PITCHRATE_P 0.2
-param set MC_ROLLRATE_I 0.05
-param set MC_PITCHRATE_I 0.05
-param set MPC_ALT_MODE 1
-param set LPE_T_MAX_GRADE 0
-param set MPC_XY_VEL_MAX 2
-param set MPC_Z_VEL_MAX_DN 2
-param set MPC_TILTMAX_AIR 10
-param set MPC_TILTMAX_LND 10
-param set MPC_XY_P 0.5
-param set MIS_TAKEOFF_ALT 2
-param set NAV_ACC_RAD 1.0
-param set CBRK_GPSFAIL 240024
-# Flow-only mode
-param set LPE_FUSION 242
-param set LPE_FAKE_ORIGIN 1
-
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-pwm_out_sim start
-sensors start
-commander start
-land_detector start multicopter
-navigator start
-attitude_estimator_q start
-local_position_estimator start
-mc_pos_control start
-mc_att_control start
-mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
-mavlink start -x -u 14556 -r 2000000
-mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
-mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 80 -s ATTITUDE -u 14556
-mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/lpe/iris_rplidar b/posix-configs/SITL/init/lpe/iris_rplidar
deleted file mode 100644
index e4ad8aa753..0000000000
--- a/posix-configs/SITL/init/lpe/iris_rplidar
+++ /dev/null
@@ -1,83 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-param set MAV_TYPE 2
-param set SYS_AUTOSTART 4010
-param set SYS_RESTART_TYPE 2
-param set SYS_MC_EST_GROUP 1
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_GYRO0_ID 2293768
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_XOFF 0.01
-param set CAL_MAG0_XOFF 0.01
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
-param set COM_DISARM_LAND 3
-param set NAV_ACC_RAD 2.0
-param set COM_OF_LOSS_T 5
-param set COM_OBL_ACT 2
-param set COM_OBL_RC_ACT 0
-param set RTL_RETURN_ALT 30.0
-param set RTL_DESCEND_ALT 5.0
-param set RTL_LAND_DELAY 5
-param set MIS_TAKEOFF_ALT 2.5
-param set MC_ROLLRATE_P 0.2
-param set MC_PITCHRATE_P 0.2
-param set MC_PITCH_P 6
-param set MC_ROLL_P 6
-param set MPC_HOLD_MAX_Z 2.0
-param set MPC_Z_VEL_P 0.6
-param set MPC_Z_VEL_I 0.15
-param set LPE_FUSION 242
-param set SDLOG_DIRS_MAX 7
-
-replay tryapplyparams
-simulator start -s
-rgbledsim start
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-pwm_out_sim start
-sleep 1
-sensors start
-commander start
-land_detector start multicopter
-navigator start
-attitude_estimator_q start
-local_position_estimator start
-mc_pos_control start
-mc_att_control start
-mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
-mavlink start -x -u 14556 -r 4000000
-mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 50 -s ATTITUDE -u 14556
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/lpe/plane b/posix-configs/SITL/init/lpe/plane
deleted file mode 100644
index f4607dfdb4..0000000000
--- a/posix-configs/SITL/init/lpe/plane
+++ /dev/null
@@ -1,88 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-param set MAV_TYPE 1
-param set SYS_AUTOSTART 3033
-param set SYS_RESTART_TYPE 2
-param set SYS_MC_EST_GROUP 1
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_GYRO0_ID 2293768
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_XOFF 0.01
-param set CAL_MAG0_XOFF 0.01
-param set SENS_BOARD_ROT 0
-param set SENS_DPRES_OFF 0.001
-param set SENS_BOARD_X_OFF 0.000001
-param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
-param set NAV_ACC_RAD 15.0
-param set NAV_LOITER_RAD 50
-param set MIS_LTRMIN_ALT 30
-param set MIS_TAKEOFF_ALT 30
-param set SDLOG_DIRS_MAX 7
-
-param set EKF2_GBIAS_INIT 0.01
-param set EKF2_ANGERR_INIT 0.01
-param set EKF2_MAG_TYPE 1
-
-param set FW_THR_IDLE 0.15
-param set FW_LND_ANG 8
-
-param set FW_R_TC 0.7
-param set FW_RR_FF 0.20
-param set FW_RR_I 0.02
-param set FW_RR_P 0.22
-
-param set FW_P_TC 0.5
-param set FW_PR_FF 0.40
-param set FW_PR_I 0.05
-param set FW_PR_P 0.05
-
-param set FW_W_EN 1
-param set RWTO_TKOFF 1
-
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-measairspeedsim start
-pwm_out_sim start
-sensors start
-commander start
-navigator start
-local_position_estimator start
-fw_pos_control_l1 start
-fw_att_control start
-land_detector start fixedwing
-mixer load /dev/pwm_output0 etc/mixers-sitl/plane_sitl.main.mix
-mavlink start -x -u 14556 -r 2000000
-mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
-mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 80 -s ATTITUDE -u 14556
-mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/lpe/rover b/posix-configs/SITL/init/lpe/rover
deleted file mode 100644
index 2ffda54f8c..0000000000
--- a/posix-configs/SITL/init/lpe/rover
+++ /dev/null
@@ -1,84 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_ID 1310728
-param set CAL_ACC1_XOFF 0.01
-param set CAL_GYRO0_ID 2293768
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_MAG0_ID 196616
-param set CAL_MAG0_XOFF 0.01
-param set COM_RC_IN_MODE 1
-param set GND_L1_DIST 5
-param set GND_SP_CTRL_MODE 0
-param set GND_SPEED_D 3
-param set GND_SPEED_I 0.001
-param set GND_SPEED_IMAX 0.125
-param set GND_SPEED_P 0.25
-param set GND_SPEED_THR_SC 1
-param set GND_THR_CRUISE 0.3
-param set GND_THR_IDLE 0
-param set GND_THR_MAX 1
-param set GND_THR_MIN 0
-param set GND_WR_D 1.2
-param set GND_WR_I 0.9674
-param set GND_WR_IMAX 0.1
-param set GND_WR_P 2
-param set MAV_TYPE 10
-param set MIS_LTRMIN_ALT 0.01
-param set MIS_TAKEOFF_ALT 0.01
-param set NAV_ACC_RAD 0.5
-param set NAV_DLL_ACT 0
-param set NAV_LOITER_RAD 2
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set SENS_DPRES_OFF 0.001
-param set SYS_AUTOSTART 50002
-param set SYS_MC_EST_GROUP 1
-param set SYS_RESTART_TYPE 2
-param set SDLOG_DIRS_MAX 7
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-measairspeedsim start
-pwm_out_sim start
-sleep 1
-sensors start
-commander start
-land_detector start ugv
-navigator start
-ekf2 start
-gnd_pos_control start
-gnd_att_control start
-mixer load /dev/pwm_output0 etc/mixers-sitl/rover_sitl.main.mix
-mavlink start -x -u 14556 -r 4000000
-mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
-mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 80 -s ATTITUDE -u 14556
-mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/lpe/solo b/posix-configs/SITL/init/lpe/solo
deleted file mode 100644
index 062403e006..0000000000
--- a/posix-configs/SITL/init/lpe/solo
+++ /dev/null
@@ -1,84 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-param set MAV_TYPE 2
-param set SYS_AUTOSTART 4010
-param set SYS_RESTART_TYPE 2
-param set SYS_MC_EST_GROUP 1
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_GYRO0_ID 2293768
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_XOFF 0.01
-param set CAL_MAG0_XOFF 0.01
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
-param set COM_DISARM_LAND 3
-param set NAV_ACC_RAD 2.0
-param set COM_OF_LOSS_T 5
-param set COM_OBL_ACT 2
-param set COM_OBL_RC_ACT 0
-param set RTL_RETURN_ALT 30.0
-param set RTL_DESCEND_ALT 5.0
-param set RTL_LAND_DELAY 5
-param set MIS_TAKEOFF_ALT 2.5
-param set MC_ROLLRATE_P 0.2
-param set MC_PITCHRATE_P 0.2
-param set MC_PITCH_P 6
-param set MC_ROLL_P 6
-param set MPC_HOLD_MAX_Z 2.0
-param set MPC_Z_VEL_P 0.6
-param set MPC_Z_VEL_I 0.15
-param set EKF2_GBIAS_INIT 0.01
-param set EKF2_ANGERR_INIT 0.01
-param set SDLOG_DIRS_MAX 7
-param set LPE_FUSION 247
-# 11110111 no vis yaw (1 << 3)
-
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-pwm_out_sim start
-sensors start
-commander start
-land_detector start multicopter
-navigator start
-attitude_estimator_q start
-local_position_estimator start
-mc_pos_control start
-mc_att_control start
-mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix
-mavlink start -x -u 14556 -r 4000000
-mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 50 -s ATTITUDE -u 14556
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/lpe/standard_vtol b/posix-configs/SITL/init/lpe/standard_vtol
deleted file mode 100644
index e3da0982be..0000000000
--- a/posix-configs/SITL/init/lpe/standard_vtol
+++ /dev/null
@@ -1,97 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-param set MAV_TYPE 22
-param set VT_TYPE 2
-param set VT_MOT_COUNT 4
-param set VT_F_TRANS_THR 0.75
-param set SYS_AUTOSTART 13006
-param set SYS_RESTART_TYPE 2
-param set SYS_MC_EST_GROUP 1
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_GYRO0_ID 2293768
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_XOFF 0.01
-param set CAL_MAG0_XOFF 0.01
-param set MC_ROLLRATE_P 0.3
-param set MC_PITCHRATE_P 0.2
-param set MC_PITCH_P 6
-param set MC_ROLL_P 6
-param set MPC_XY_P 0.5
-param set MPC_ACC_HOR_MAX 1.0
-param set MPC_XY_VEL_P 0.1
-param set MPC_XY_VEL_I 0.1
-param set MPC_XY_VEL_D 0.005
-param set MPC_Z_VEL_MAX_DN 1.5
-param set MPC_Z_VEL_P 0.6
-param set MPC_Z_VEL_I 0.15
-param set FW_AIRSPD_MIN 14
-param set FW_AIRSPD_TRIM 16
-param set FW_AIRSPD_MAX 25
-param set SENS_BOARD_ROT 0
-param set SENS_DPRES_OFF 0.001
-param set SENS_BOARD_X_OFF 0.000001
-param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
-param set NAV_ACC_RAD 5.0
-param set NAV_LOITER_RAD 50
-param set MPC_TKO_SPEED 1.0
-param set MIS_LTRMIN_ALT 10
-param set MIS_TAKEOFF_ALT 10
-param set MIS_YAW_TMT 10
-param set RTL_RETURN_ALT 30.0
-param set RTL_DESCEND_ALT 10.0
-param set RTL_LAND_DELAY 0
-param set COM_DISARM_LAND 5
-param set MPC_ACC_HOR_MAX 2
-param set SDLOG_DIRS_MAX 7
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-measairspeedsim start
-pwm_out_sim start
-sensors start
-commander start
-land_detector start vtol
-navigator start
-attitude_estimator_q start
-local_position_estimator start
-vtol_att_control start
-mc_pos_control start
-mc_att_control start
-fw_pos_control_l1 start
-fw_att_control start
-mixer load /dev/pwm_output0 etc/mixers-sitl/standard_vtol_sitl.main.mix
-mavlink start -x -u 14556 -r 2000000
-mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
-mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14540
-mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 80 -s ATTITUDE -u 14556
-mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-logger start -e -t
-mavlink boot_complete
-replay trystart
diff --git a/posix-configs/SITL/init/lpe/typhoon_h480 b/posix-configs/SITL/init/lpe/typhoon_h480
deleted file mode 100644
index f3ef8d18a7..0000000000
--- a/posix-configs/SITL/init/lpe/typhoon_h480
+++ /dev/null
@@ -1,83 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-param load
-param set MAV_TYPE 13
-param set SYS_AUTOSTART 6001
-param set SYS_RESTART_TYPE 2
-param set SYS_MC_EST_GROUP 1
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_GYRO0_ID 2293768
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_XOFF 0.01
-param set CAL_MAG0_XOFF 0.01
-param set SENS_BOARD_ROT 0
-param set SENS_BOARD_X_OFF 0.000001
-param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
-param set COM_DISARM_LAND 3
-param set NAV_ACC_RAD 2.0
-param set RTL_RETURN_ALT 30.0
-param set RTL_DESCEND_ALT 10.0
-param set RTL_LAND_DELAY 0
-param set MIS_TAKEOFF_ALT 2.5
-param set MC_ROLLRATE_P 0.2
-param set MC_PITCHRATE_P 0.2
-param set MC_PITCH_P 6
-param set MC_ROLL_P 6
-param set MPC_HOLD_MAX_Z 2.0
-param set MPC_Z_VEL_P 0.6
-param set MPC_Z_VEL_I 0.15
-param set MPC_XY_VEL_P 0.15
-param set MPC_XY_VEL_I 0.2
-param set EKF2_GBIAS_INIT 0.01
-param set EKF2_ANGERR_INIT 0.01
-param set EKF2_MAG_TYPE 1
-param set SDLOG_DIRS_MAX 7
-replay tryapplyparams
-simulator start -s
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-gpssim start
-pwm_out_sim start
-sensors start
-commander start
-land_detector start multicopter
-navigator start
-attitude_estimator_q start
-local_position_estimator start
-mc_pos_control start
-mc_att_control start
-mixer load /dev/pwm_output0 etc/mixers/hexa_x.main.mix
-mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
-mavlink start -x -u 14556 -r 4000000
-mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 50 -s ATTITUDE -u 14556
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-logger start -e -t
-vmount start
-mavlink boot_complete
-replay trystart
diff --git a/src/modules/wind_estimator/wind_estimator_main.cpp b/src/modules/wind_estimator/wind_estimator_main.cpp
index 45b44978ed..9c59b7655d 100644
--- a/src/modules/wind_estimator/wind_estimator_main.cpp
+++ b/src/modules/wind_estimator/wind_estimator_main.cpp
@@ -327,13 +327,12 @@ int WindEstimatorModule::print_status()
 	perf_print_counter(_perf_interval);
 
 	if (_instance > -1) {
-		unsigned instance = _instance;
-		uORB::Subscription<wind_estimate_s> est{ORB_ID(wind_estimate), instance};
+		uORB::Subscription<wind_estimate_s> est{ORB_ID(wind_estimate), (unsigned)_instance};
 		est.update();
 
 		print_message(est.get());
 	} else {
-		PX4_INFO("never published");
+		PX4_INFO("Running, but never published");
 	}
 
 	return 0;
@@ -344,12 +343,5 @@ extern "C" __EXPORT int wind_estimator_main(int argc, char *argv[]);
 int
 wind_estimator_main(int argc, char *argv[])
 {
-	int32_t wind_estimator_enabled = 0;
-	param_get(param_find("WEST_EN"), &wind_estimator_enabled);
-
-	if (wind_estimator_enabled == 1) {
-		return WindEstimatorModule::main(argc, argv);
-	}
-
-	return PX4_OK;
+	return WindEstimatorModule::main(argc, argv);
 }