diff --git a/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow b/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow
index 4093c74aa7..1f0349487f 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow
+++ b/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow
@@ -16,10 +16,10 @@ then
 
 	# INAV
 	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
+	param set INAV_W_XY_FLOW 1
+	param set INAV_W_XY_GPS_P 0
+	param set INAV_W_XY_GPS_V 0
+	param set INAV_W_Z_GPS_P 0
 
 	# LPE: Flow-only mode
 	param set LPE_FUSION 242
diff --git a/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision b/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision
index 8f0cd8c458..5d917a6579 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision
+++ b/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision
@@ -14,11 +14,11 @@ then
 	param set EKF2_EV_DELAY 5
 
 	# INAV: trust more on the vision input
-	param set INAV_W_XY_VIS_P 9.0
-	param set INAV_W_Z_VIS_P 7.0
-	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
+	param set INAV_W_XY_VIS_P 9
+	param set INAV_W_Z_VIS_P 7
+	param set INAV_W_XY_GPS_P 0
+	param set INAV_W_XY_GPS_V 0
+	param set INAV_W_Z_GPS_P 0
 
 	# LPE: Vision + baro
 	param set LPE_FUSION 132
diff --git a/ROMFS/px4fmu_common/init.d-posix/1030_plane b/ROMFS/px4fmu_common/init.d-posix/1030_plane
index e704400d49..32671123fa 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1030_plane
+++ b/ROMFS/px4fmu_common/init.d-posix/1030_plane
@@ -7,7 +7,7 @@ sh /etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then
-	param set EKF2_ARSP_THR 8.0
+	param set EKF2_ARSP_THR 8
 	param set EKF2_FUSE_BETA 1
 	param set EKF2_MAG_ACCLIM 0
 	param set EKF2_MAG_YAWLIM 0
@@ -31,7 +31,7 @@ then
 	param set MIS_LTRMIN_ALT 30
 	param set MIS_TAKEOFF_ALT 30
 
-	param set NAV_ACC_RAD 15.0
+	param set NAV_ACC_RAD 15
 	param set NAV_DLL_ACT 2
 	param set NAV_LOITER_RAD 50
 
diff --git a/ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol
index 229c83082c..c0243fcad6 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol
+++ b/ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol
@@ -20,16 +20,16 @@ then
 	param set MIS_YAW_TMT 10
 
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_ACC_HOR_MAX 2.0
+	param set MPC_ACC_HOR_MAX 2
 	param set MPC_THR_MIN 0.1
-	param set MPC_TKO_SPEED 1.0
+	param set MPC_TKO_SPEED 1
 	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_ACC_RAD 5
 	param set NAV_LOITER_RAD 80
 
 	param set VT_F_TRANS_DUR 5
diff --git a/ROMFS/px4fmu_common/init.d-posix/1041_tailsitter b/ROMFS/px4fmu_common/init.d-posix/1041_tailsitter
index e406ec3198..f636fe6838 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1041_tailsitter
+++ b/ROMFS/px4fmu_common/init.d-posix/1041_tailsitter
@@ -20,9 +20,9 @@ then
 	param set MIS_YAW_TMT 10
 
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_ACC_HOR_MAX 2.0
+	param set MPC_ACC_HOR_MAX 2
 	param set MPC_THR_MIN 0.1
-	param set MPC_TKO_SPEED 1.0
+	param set MPC_TKO_SPEED 1
 	param set MPC_XY_P 0.15
 	param set MPC_XY_VEL_D 0.005
 	param set MPC_XY_VEL_I 0.2
@@ -30,7 +30,7 @@ then
 	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_ACC_RAD 5
 	param set NAV_LOITER_RAD 80
 
 	param set VT_F_TRANS_DUR 1.5
diff --git a/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor
index de4321d96e..a40b82e045 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor
+++ b/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor
@@ -20,9 +20,9 @@ then
 	param set MIS_YAW_TMT 10
 
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_ACC_HOR_MAX 2.0
+	param set MPC_ACC_HOR_MAX 2
 	param set MPC_THR_MIN 0.1
-	param set MPC_TKO_SPEED 1.0
+	param set MPC_TKO_SPEED 1
 	param set MPC_XY_P 0.15
 	param set MPC_XY_VEL_D 0.005
 	param set MPC_XY_VEL_I 0.2
@@ -30,7 +30,7 @@ then
 	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_ACC_RAD 5
 	param set NAV_LOITER_RAD 80
 
 	param set VT_F_TRANS_DUR 1.5
diff --git a/ROMFS/px4fmu_common/init.d-posix/6011_typhoon_h480 b/ROMFS/px4fmu_common/init.d-posix/6011_typhoon_h480
index 3daad5c43a..ec98d64145 100644
--- a/ROMFS/px4fmu_common/init.d-posix/6011_typhoon_h480
+++ b/ROMFS/px4fmu_common/init.d-posix/6011_typhoon_h480
@@ -14,7 +14,7 @@ then
 	param set MPC_XY_VEL_I 0.2
 	param set MPC_XY_VEL_P 0.15
 
-	param set RTL_DESCEND_ALT 10.0
+	param set RTL_DESCEND_ALT 10
 	param set RTL_LAND_DELAY 0
 
 	param set TRIG_INTERFACE 3
diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index cbf39d464d..b856d3b33a 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -128,7 +128,7 @@ then
 	param set MC_ROLLRATE_P 0.2
 
 	param set MPC_ALT_MODE 0
-	param set MPC_HOLD_MAX_Z 2.0
+	param set MPC_HOLD_MAX_Z 2
 	param set MPC_Z_VEL_I 0.15
 	param set MPC_Z_VEL_P 0.6
 	param set MPC_XY_P 0.8
@@ -136,16 +136,16 @@ then
 	param set MPC_XY_VEL_I 0.02
 	param set MPC_XY_VEL_D 0.016
 
-	param set MPC_JERK_MIN 10.0
-	param set MPC_JERK_MAX 20.0
-	param set MPC_ACC_HOR_MAX 3.0
+	param set MPC_JERK_MIN 10
+	param set MPC_JERK_MAX 20
+	param set MPC_ACC_HOR_MAX 3
 
-	param set NAV_ACC_RAD 2.0
+	param set NAV_ACC_RAD 2
 	param set NAV_DLL_ACT 2
 
-	param set RTL_DESCEND_ALT 5.0
+	param set RTL_DESCEND_ALT 5
 	param set RTL_LAND_DELAY 5
-	param set RTL_RETURN_ALT 30.0
+	param set RTL_RETURN_ALT 30
 
 	param set SDLOG_DIRS_MAX 7
 	param set SENS_BOARD_ROT 0
diff --git a/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
index 8c547882a6..04821139ae 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
@@ -35,7 +35,7 @@ then
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.28
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_D 0
 fi
 
 set MIXER quad_w
diff --git a/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
index e8aafe9c3c..6566df9294 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
@@ -23,18 +23,18 @@ sh /etc/init.d/rc.mc_defaults
 if [ $AUTOCNF = yes ]
 then
 	# TODO tune roll/pitch separately
-	param set MC_ROLL_P 7.0
+	param set MC_ROLL_P 7
 	param set MC_ROLLRATE_P 0.15
 	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 7.0
+	param set MC_PITCH_P 7
 	param set MC_PITCHRATE_P 0.15
 	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.004
 	param set MC_YAW_P 2.5
 	param set MC_YAWRATE_P 0.25
 	param set MC_YAWRATE_I 0.25
-	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_D 0
 
 	param set BAT_V_DIV 12.27559
 	param set BAT_A_PER_V 15.39103
diff --git a/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
index 1a64d70e15..737ec68113 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
+++ b/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
@@ -26,18 +26,18 @@ if [ $AUTOCNF = yes ]
 then
 	param set BAT_N_CELLS 4
 
-	param set MC_ROLL_P 7.0
+	param set MC_ROLL_P 7
 	param set MC_ROLLRATE_P 0.13
 	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 7.0
+	param set MC_PITCH_P 7
 	param set MC_PITCHRATE_P 0.19
 	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 4.0
+	param set MC_YAW_P 4
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_D 0
 fi
 
 set MIXER quad_w
diff --git a/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance b/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
index d89aa15934..b264ba35b1 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
+++ b/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
@@ -27,18 +27,18 @@ then
 	param set BAT_N_CELLS 6
 	param set BAT_V_EMPTY 3.5
 
-	param set MC_ROLL_P 7.0
+	param set MC_ROLL_P 7
 	param set MC_ROLLRATE_P 0.08
 	param set MC_ROLLRATE_I 0.02
 	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCH_P 7.0
+	param set MC_PITCH_P 7
 	param set MC_PITCHRATE_P 0.13
 	param set MC_PITCHRATE_I 0.02
 	param set MC_PITCHRATE_D 0.005
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_D 0
 
 	param set MPC_XY_VEL_MAX 2
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
index 9944c893eb..208e481eb7 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
@@ -14,7 +14,7 @@ if [ $AUTOCNF = yes ]
 then
 	param set BAT_N_CELLS 3
 
-	param set COM_DISARM_LAND 5.0
+	param set COM_DISARM_LAND 5
 	param set COM_RC_IN_MODE 1
 
 	param set EKF2_AID_MASK 1
@@ -36,9 +36,9 @@ then
 	param set MIS_YAW_TMT 10
 
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_ACC_HOR_MAX 2.0
+	param set MPC_ACC_HOR_MAX 2
 	param set MPC_THR_MIN 0.1
-	param set MPC_TKO_SPEED 1.0
+	param set MPC_TKO_SPEED 1
 	param set MPC_XY_P 0.8
 	param set MPC_XY_VEL_D 0.005
 	param set MPC_XY_VEL_I 0.2
@@ -47,13 +47,13 @@ then
 	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_ACC_RAD 5
 	param set NAV_DLL_ACT 2
 	param set NAV_LOITER_RAD 80
 
-	param set RTL_DESCEND_ALT 10.0
+	param set RTL_DESCEND_ALT 10
 	param set RTL_LAND_DELAY 0
-	param set RTL_RETURN_ALT 30.0
+	param set RTL_RETURN_ALT 30
 
 	param set SDLOG_DIRS_MAX 7
 	param set SYS_MC_EST_GROUP 2
diff --git a/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik b/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
index ae9ffc90f4..ae9023594a 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
+++ b/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
@@ -21,26 +21,26 @@ sh /etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then
-	param set MC_PITCH_P 4.0
+	param set MC_PITCH_P 4
 	param set MC_PITCHRATE_P 0.24
 	param set MC_PITCHRATE_I 0.09
 	param set MC_PITCHRATE_D 0.013
-	param set MC_PITCHRATE_MAX 180.0
+	param set MC_PITCHRATE_MAX 180
 
-	param set MC_ROLL_P 4.0
+	param set MC_ROLL_P 4
 	param set MC_ROLLRATE_P 0.16
 	param set MC_ROLLRATE_I 0.07
 	param set MC_ROLLRATE_D 0.009
-	param set MC_ROLLRATE_MAX 180.0
+	param set MC_ROLLRATE_MAX 180
 
-	param set MC_YAW_P 3.0
+	param set MC_YAW_P 3
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_D 0
 
 	param set MPC_HOLD_MAX_XY 0.25
 	param set MPC_THR_MIN 0.15
-	param set MPC_Z_VEL_MAX_DN 2.0
+	param set MPC_Z_VEL_MAX_DN 2
 
 	param set BAT_N_CELLS 4
 fi
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
index 2c122852f5..b09b943985 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
+++ b/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
@@ -17,21 +17,21 @@ sh /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
-	param set MC_ROLL_P 6.0
+	param set MC_ROLL_P 6
 	param set MC_ROLLRATE_P 0.12
 	param set MC_ROLLRATE_I 0.002
 	param set MC_ROLLRATE_D 0.003
-	param set MC_ROLLRATE_FF 0.0
+	param set MC_ROLLRATE_FF 0
 	param set MC_PITCH_P 4.5
 	param set MC_PITCHRATE_P 0.3
 	param set MC_PITCHRATE_I 0.002
 	param set MC_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0.0
+	param set MC_PITCHRATE_FF 0
 	param set MC_YAW_P 3.8
 	param set MC_YAWRATE_P 0.22
 	param set MC_YAWRATE_I 0.02
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAWRATE_FF 0.0
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
 
 	param set VT_IDLE_PWM_MC  1080
 	param set VT_ELEV_MC_LOCK 0
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6 b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
index 7a96f3c691..69079328f6 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
+++ b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
@@ -22,21 +22,21 @@ sh /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
-	param set MC_ROLL_P 7.0
+	param set MC_ROLL_P 7
 	param set MC_ROLLRATE_P 0.19
 	param set MC_ROLLRATE_I 0.002
 	param set MC_ROLLRATE_D 0.005
-	param set MC_ROLLRATE_FF 0.0
-	param set MC_PITCH_P 7.0
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 7
 	param set MC_PITCHRATE_P 0.14
 	param set MC_PITCHRATE_I 0.002
 	param set MC_PITCHRATE_D 0.004
-	param set MC_PITCHRATE_FF 0.0
-	param set MC_YAW_P 4.0
+	param set MC_PITCHRATE_FF 0
+	param set MC_YAW_P 4
 	param set MC_YAWRATE_P 0.22
 	param set MC_YAWRATE_I 0.02
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAWRATE_FF 0.0
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
 
 	param set PWM_RATE 400
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
index ed84f66db7..4ccb666145 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
@@ -26,21 +26,21 @@ then
 
 	param set PWM_RATE 400
 
-	param set MC_ROLL_P 6.0
+	param set MC_ROLL_P 6
 	param set MC_ROLLRATE_P 0.17
 	param set MC_ROLLRATE_I 0.002
 	param set MC_ROLLRATE_D 0.004
-	param set MC_ROLLRATE_FF 0.0
-	param set MC_PITCH_P 6.0
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 6
 	param set MC_PITCHRATE_P 0.19
 	param set MC_PITCHRATE_I 0.002
 	param set MC_PITCHRATE_D 0.004
-	param set MC_PITCHRATE_FF 0.0
+	param set MC_PITCHRATE_FF 0
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.22
 	param set MC_YAWRATE_I 0.02
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAWRATE_FF 0.0
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
 	param set MC_YAWRATE_MAX 40
 	param set MC_YAWRAUTO_MAX 40
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta b/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
index b1ee2431c8..d5c3d6e6c3 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
+++ b/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
@@ -24,23 +24,23 @@ then
 	param set MC_ROLLRATE_P 0.15
 	param set MC_ROLLRATE_I 0.01
 	param set MC_ROLLRATE_D 0.003
-	param set MC_ROLLRATE_FF 0.0
+	param set MC_ROLLRATE_FF 0
 	param set MC_PITCH_P 6.5
 	param set MC_PITCHRATE_P 0.15
 	param set MC_PITCHRATE_I 0.01
 	param set MC_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0.0
+	param set MC_PITCHRATE_FF 0
 	param set MC_YAW_P 3.5
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAWRATE_FF 0.0
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
 	param set MC_YAWRATE_MAX 50
 	param set MC_YAWRAUTO_MAX 20
 
 	param set MPC_XY_P 0.8
 	param set MPC_XY_VEL_P 0.1
-	param set MPC_ACC_HOR_MAX 2.0
+	param set MPC_ACC_HOR_MAX 2
 
 	param set PWM_AUX_DIS3 950
 	param set PWM_RATE 400
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad b/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
index 9562b16e36..8e07ea2887 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
@@ -12,21 +12,21 @@ sh /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
-	param set MC_ROLL_P 7.0
+	param set MC_ROLL_P 7
 	param set MC_ROLLRATE_P 0.15
 	param set MC_ROLLRATE_I 0.002
 	param set MC_ROLLRATE_D 0.003
-	param set MC_ROLLRATE_FF 0.0
-	param set MC_PITCH_P 7.0
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 7
 	param set MC_PITCHRATE_P 0.12
 	param set MC_PITCHRATE_I 0.002
 	param set MC_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0.0
+	param set MC_PITCHRATE_FF 0
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.22
 	param set MC_YAWRATE_I 0.02
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAWRATE_FF 0.0
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
 	param set MC_YAWRATE_MAX 40
 	param set MC_YAWRAUTO_MAX 40
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger b/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
index 33cbdb9507..2212b3cc4b 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
+++ b/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
@@ -12,7 +12,7 @@ sh /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
-	param set FW_THR_CRUISE 65.0
+	param set FW_THR_CRUISE 65
 	param set FW_PR_P 0.08
 	param set FW_PR_FF 0.5
 	param set FW_RR_P 0.05
@@ -20,25 +20,25 @@ then
 
 	param set MIS_YAW_TMT 10
 
-	param set MC_ROLL_P 7.0
+	param set MC_ROLL_P 7
 	param set MC_ROLLRATE_P 0.15
 	param set MC_ROLLRATE_I 0.1
 	param set MC_ROLLRATE_D 0.004
-	param set MC_ROLLRATE_FF 0.0
-	param set MC_PITCH_P 7.0
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 7
 	param set MC_PITCHRATE_P 0.15
 	param set MC_PITCHRATE_I 0.1
 	param set MC_PITCHRATE_D 0.004
-	param set MC_PITCHRATE_FF 0.0
+	param set MC_PITCHRATE_FF 0
 	param set MC_YAW_P 3.5
 	param set MC_YAWRATE_P 0.6
 	param set MC_YAWRATE_I 0.04
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAWRATE_FF 0.0
-	param set MC_YAWRATE_MAX 40.0
-	param set MC_YAWRAUTO_MAX 40.0
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
+	param set MC_YAWRATE_MAX 40
+	param set MC_YAWRAUTO_MAX 40
 
-	param set MPC_ACC_HOR_MAX 2.0
+	param set MPC_ACC_HOR_MAX 2
 	param set MPC_Z_VEL_MAX_DN 1.5
 	param set MPC_TKO_SPEED 1.5
 	param set MPC_LAND_SPEED 0.8
@@ -48,9 +48,9 @@ then
 	param set PWM_AUX_REV2 1
 	param set PWM_RATE 400
 
-	param set VT_ARSP_TRANS 15.0
-	param set VT_ARSP_BLEND 8.0
-	param set VT_B_TRANS_DUR 4.0
+	param set VT_ARSP_TRANS 15
+	param set VT_ARSP_BLEND 8
+	param set VT_B_TRANS_DUR 4
 	param set VT_F_TRANS_THR 0.75
 	param set VT_IDLE_PWM_MC 1080
 	param set VT_MOT_COUNT 4
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger b/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
index 6943506762..60459ff425 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
+++ b/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
@@ -12,52 +12,52 @@ sh /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
-	param set FW_AIRSPD_MAX   22.0
-	param set FW_AIRSPD_MIN   14.0
-	param set FW_AIRSPD_TRIM  16.0
-	param set FW_L1_PERIOD    25.0
+	param set FW_AIRSPD_MAX   22
+	param set FW_AIRSPD_MIN   14
+	param set FW_AIRSPD_TRIM  16
+	param set FW_L1_PERIOD    25
 	param set FW_PR_P 0.060
-	param set FW_P_RMAX_NEG   40.0
-	param set FW_P_RMAX_POS   40.0
+	param set FW_P_RMAX_NEG   40
+	param set FW_P_RMAX_POS   40
 	param set FW_RR_FF    0.4
 	param set FW_RR_P 0.04
-	param set FW_R_RMAX   40.0
+	param set FW_R_RMAX   40
 
 	param set MC_PITCHRATE_D 0.004
-	param set MC_PITCHRATE_I 0.0
-	param set MC_PITCHRATE_MAX 60.0
+	param set MC_PITCHRATE_I 0
+	param set MC_PITCHRATE_MAX 60
 	param set MC_PITCHRATE_P 0.21
-	param set MC_PITCH_P 4.0
+	param set MC_PITCH_P 4
 	param set MC_ROLLRATE_D 0.004
 	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_MAX 60.0
+	param set MC_ROLLRATE_MAX 60
 	param set MC_ROLLRATE_P 0.24
-	param set MC_ROLL_P 4.0
+	param set MC_ROLL_P 4
 	param set MC_YAWRATE_I 0.02
-	param set MC_YAWRATE_MAX 40.0
+	param set MC_YAWRATE_MAX 40
 	param set MC_YAWRATE_P 0.18
-	param set MC_YAWRAUTO_MAX 40.0
+	param set MC_YAWRAUTO_MAX 40
 
 	param set MIS_TAKEOFF_ALT 2.5
-	param set MIS_YAW_TMT 20.0
+	param set MIS_YAW_TMT 20
 
-	param set MPC_ACC_HOR_MAX 1.0
+	param set MPC_ACC_HOR_MAX 1
 	param set MPC_HOLD_MAX_XY 0.5
 	param set MPC_HOLD_MAX_Z  0.5
-	param set MPC_LAND_SPEED  1.0
+	param set MPC_LAND_SPEED  1
 	param set MPC_MANTHR_MIN  0.05
-	param set MPC_MAN_Y_MAX   120.0
+	param set MPC_MAN_Y_MAX   120
 	param set MPC_THR_MIN 0.07
-	param set MPC_TILTMAX_AIR 35.0
-	param set MPC_TILTMAX_LND 20.0
-	param set MPC_TKO_SPEED   1.0
+	param set MPC_TILTMAX_AIR 35
+	param set MPC_TILTMAX_LND 20
+	param set MPC_TKO_SPEED   1
 	param set MPC_XY_P    0.3
-	param set MPC_XY_VEL_MAX  3.0
+	param set MPC_XY_VEL_MAX  3
 	param set MPC_XY_VEL_P    0.05
 	param set MPC_Z_P 0.5
 	param set MPC_Z_VEL_P 0.1
 
-	param set NAV_ACC_RAD 3.0
+	param set NAV_ACC_RAD 3
 
 	param set PWM_AUX_REV1    1
 	param set PWM_AUX_REV2    1
@@ -68,13 +68,13 @@ then
 
 	param set PWM_RATE 400
 
-	param set VT_ARSP_TRANS   15.0
-	param set VT_B_TRANS_DUR  4.0
+	param set VT_ARSP_TRANS   15
+	param set VT_B_TRANS_DUR  4
 	param set VT_F_TRANS_THR    0.6
 	param set VT_IDLE_PWM_MC 1180
 	param set VT_MOT_COUNT 4
-	param set VT_TRANS_MIN_TM 5.0
-	param set VT_TRANS_TIMEOUT    30.0
+	param set VT_TRANS_MIN_TM 5
+	param set VT_TRANS_TIMEOUT    30
 	param set VT_TYPE 2
 
 fi
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
index 013d171190..f33ac59680 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
+++ b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
@@ -26,13 +26,13 @@ then
 	param set FW_ARSP_MODE 2
 
 	param set FW_L1_PERIOD 17
-	param set FW_MAN_R_MAX 50.0
+	param set FW_MAN_R_MAX 50
 	param set FW_ACRO_X_MAX   270
 	param set FW_ACRO_Y_MAX   270
 	param set FW_ACRO_Z_MAX   180
 	param set FW_PR_FF    0.5
 	param set FW_PR_P 0.08
-	param set FW_PSP_OFF  5.0
+	param set FW_PSP_OFF  5
 	param set FW_P_LIM_MAX    30
 	param set FW_P_LIM_MIN    -30
 	param set FW_P_RMAX_NEG   60
@@ -44,10 +44,10 @@ then
 
 	param set MC_PITCHRATE_D  0.003
 	param set MC_PITCHRATE_P  0.15
-	param set MC_PITCH_P  6.0
+	param set MC_PITCH_P  6
 	param set MC_ROLLRATE_D   0.003
 	param set MC_ROLLRATE_P   0.15
-	param set MC_ROLL_P   6.0
+	param set MC_ROLL_P   6
 	param set MC_YAWRATE_MAX  120
 	param set MC_YAWRATE_P    0.27
 	param set MC_YAW_P    2.5
@@ -55,23 +55,23 @@ then
 	param set MC_YAWRATE_P 0.3
 	param set MPC_LAND_SPEED 1.2
 	param set MPC_TKO_SPEED 2.5
-	param set MPC_Z_VEL_MAX_UP 3.0
+	param set MPC_Z_VEL_MAX_UP 3
 
 	param set PWM_RATE 400
 
 	param set SENS_BOARD_ROT 8
 
-	param set VT_B_TRANS_DUR  1.0
+	param set VT_B_TRANS_DUR  1
 	param set VT_F_TRANS_DUR  1.2
-	param set VT_F_TR_OL_TM   4.0
+	param set VT_F_TR_OL_TM   4
 	param set VT_FW_DIFTHR_EN 1
 	param set VT_FW_DIFTHR_SC 0.17
 	param set VT_FW_MOT_OFFID 3
 	param set VT_FW_PERM_STAB 0
 	param set VT_IDLE_PWM_MC 1200
 	param set VT_MOT_COUNT 3
-	param set VT_TILT_FW  1.0
-	param set VT_TILT_MC  0.0
+	param set VT_TILT_FW  1
+	param set VT_TILT_MC  0
 	param set VT_TILT_TRANS   0.45
 	param set VT_TRANS_MIN_TM 1.2
 	param set VT_TRANS_P2_DUR 1.3
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
index 7adcb391f4..6b6822254c 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
@@ -25,7 +25,7 @@ then
 	param set BAT_N_CELLS 4
 	param set BAT_R_INTERNAL 0.0025
 
-	param set COM_DISARM_LAND 5.0
+	param set COM_DISARM_LAND 5
 
 	param set CBRK_AIRSPD_CHK 162128
 	param set CBRK_IO_SAFETY 22027
@@ -74,19 +74,19 @@ then
 	param set MC_ROLLRATE_P 0.16
 	param set MC_ROLLRATE_I 0.01
 	param set MC_ROLLRATE_D 0.003
-	param set MC_ROLLRATE_FF 0.0
+	param set MC_ROLLRATE_FF 0
 	param set MC_ROLLRATE_MAX 80
 	param set MC_PITCH_P 6.5
 	param set MC_PITCHRATE_P 0.15
 	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0.0
+	param set MC_PITCHRATE_FF 0
 	param set MC_PITCHRATE_MAX 80
 	param set MC_YAW_P 3.5
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAWRATE_FF 0.0
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
 	param set MC_YAWRATE_MAX 20
 	param set MC_YAWRAUTO_MAX 20
 	param set MC_AIRMODE 1
@@ -98,7 +98,7 @@ then
 	param set MPC_XY_P 0.8
 	param set MPC_XY_VEL_P 0.1
 	param set MPC_XY_VEL_MAX 5
-	param set MPC_ACC_HOR_MAX 2.0
+	param set MPC_ACC_HOR_MAX 2
 	param set MPC_LAND_SPEED 1.2
 	param set MPC_MAN_R_MAX 30
 	param set MPC_TILTMAX_LND 35
diff --git a/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli b/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
index b13da1b240..96b142af2f 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
+++ b/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
@@ -31,10 +31,10 @@ then
 	param set MC_YAW_P 2
 	param set MC_YAWRATE_P 0.1
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_D 0
 	param set MC_YAWRATE_FF 0
 
-	param set NAV_ACC_RAD 2.0
+	param set NAV_ACC_RAD 2
 
 	param set PWM_AUX_RATE 50
 	param set PWM_DISARMED 900
@@ -42,8 +42,8 @@ then
 	param set PWM_MAX 1950
 	param set PWM_RATE 400
 
-	param set RTL_RETURN_ALT 30.0
-	param set RTL_DESCEND_ALT 10.0
+	param set RTL_RETURN_ALT 30
+	param set RTL_DESCEND_ALT 10
 fi
 
 # This is the gimbal pass mixer
diff --git a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
index d4e3ffed4d..8852fc9e1f 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
+++ b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
@@ -25,29 +25,29 @@ set MIXER blade130
 
 if [ $AUTOCNF = yes ]
 then
-	param set ATT_BIAS_MAX 0.0
+	param set ATT_BIAS_MAX 0
 
 	param set CBRK_IO_SAFETY 22027
 
-	param set MC_ROLL_P 5.0
-	param set MC_ROLLRATE_P 0.0
-	param set MC_ROLLRATE_I 0.0
-	param set MC_ROLLRATE_D 0.0
+	param set MC_ROLL_P 5
+	param set MC_ROLLRATE_P 0
+	param set MC_ROLLRATE_I 0
+	param set MC_ROLLRATE_D 0
 	param set MC_ROLLRATE_FF 0.15
 	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0.0
-	param set MC_PITCHRATE_I 0.0
-	param set MC_PITCHRATE_D 0.0
+	param set MC_PITCHRATE_P 0
+	param set MC_PITCHRATE_I 0
+	param set MC_PITCHRATE_D 0
 	param set MC_PITCHRATE_FF 0.15
-	param set MC_YAW_P 3.0
+	param set MC_YAW_P 3
 	param set MC_YAWRATE_P 0.1
-	param set MC_YAWRATE_I 0.0
-	param set MC_YAWRATE_D 0.0
-	param set MC_ROLLRATE_MAX 720.0
-	param set MC_PITCHRATE_MAX 720.0
-	param set MC_YAWRATE_MAX 400.0
-	param set MC_ACRO_R_MAX 360.0
-	param set MC_ACRO_P_MAX 360.0
+	param set MC_YAWRATE_I 0
+	param set MC_YAWRATE_D 0
+	param set MC_ROLLRATE_MAX 720
+	param set MC_PITCHRATE_MAX 720
+	param set MC_YAWRATE_MAX 400
+	param set MC_ACRO_R_MAX 360
+	param set MC_ACRO_P_MAX 360
 
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06
diff --git a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
index b2c0ac6fef..1ed887fcfd 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
+++ b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
@@ -27,7 +27,7 @@ set VEHICLE_TYPE mc
 
 if [ $AUTOCNF = yes ]
 then
-	param set NAV_ACC_RAD 2.0
+	param set NAV_ACC_RAD 2
 
 	param set PWM_AUX_RATE 400
 	param set PWM_AUX_DISARMED 900
@@ -38,9 +38,9 @@ then
 	param set PWM_MAX 1950
 	param set PWM_RATE 400
 
-	param set RTL_DESCEND_ALT 10.0
+	param set RTL_DESCEND_ALT 10
 	param set RTL_LAND_DELAY 0
-	param set RTL_RETURN_ALT 30.0
+	param set RTL_RETURN_ALT 30
 fi
 
 set MIXER dodeca_top_cox
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3031_phantom b/ROMFS/px4fmu_common/init.d/airframes/3031_phantom
index 35f7ec0322..65a4862e97 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3031_phantom
+++ b/ROMFS/px4fmu_common/init.d/airframes/3031_phantom
@@ -45,7 +45,7 @@ then
 
 	# Bottom of bay and nominal zero-pitch attitude differ
 	# the payload bay is pitched up about 7 degrees
-	param set SENS_BOARD_Y_OFF 7.0
+	param set SENS_BOARD_Y_OFF 7
 fi
 
 set MIXER phantom
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon b/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
index 30bdf39f57..b3a117cbb7 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
+++ b/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
@@ -27,7 +27,7 @@ then
 	param set FW_AIRSPD_MAX 27
 	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.75
-	param set FW_L1_PERIOD 20.0
+	param set FW_L1_PERIOD 20
 	param set FW_PR_FF 0.35
 	param set FW_PR_IMAX 0.2
 	param set FW_PR_P 0.05
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5 b/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
index dd48ee2c1b..b49295dac9 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
+++ b/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
@@ -17,18 +17,18 @@ set PWM_OUT 1234
 
 if [ $AUTOCNF = yes ]
 then
-	param set MC_ROLL_P 8.0
+	param set MC_ROLL_P 8
 	param set MC_ROLLRATE_P 0.08
 	param set MC_ROLLRATE_I 0.16
 	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCH_P 8.0
+	param set MC_PITCH_P 8
 	param set MC_PITCHRATE_P 0.1
 	param set MC_PITCHRATE_I 0.2
 	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.15
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_D 0
 	param set MC_TPA_BREAK_P 0.7
 	param set MC_TPA_RATE_P 0.3
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4009_qav250 b/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
index 4583d24ead..2eaa4aa5f8 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
@@ -15,7 +15,7 @@ set PWM_OUT 1234
 
 if [ $AUTOCNF = yes ]
 then
-	param set ATT_BIAS_MAX 0.0
+	param set ATT_BIAS_MAX 0
 
 	param set CBRK_IO_SAFETY 22027
 
@@ -23,18 +23,18 @@ then
 	param set MC_TPA_RATE_P 0.5
 
 	param set MPC_MANTHR_MIN 0.06
-	param set MC_ROLL_P 6.0
+	param set MC_ROLL_P 6
 	param set MC_ROLLRATE_P 0.14
 	param set MC_ROLLRATE_I 0.23
 	param set MC_ROLLRATE_D 0.0025
-	param set MC_PITCH_P 7.0
+	param set MC_PITCH_P 7
 	param set MC_PITCHRATE_P 0.235
 	param set MC_PITCHRATE_I 0.17
 	param set MC_PITCHRATE_D 0.004
 	param set MC_YAW_P 4
 	param set MC_YAWRATE_P 0.3
 	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_D 0
 	param set MPC_THR_MIN 0.06
 
 	param set PWM_MIN 1075
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
index 50b18c3219..c25f8aa8bf 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
@@ -15,18 +15,18 @@ set PWM_OUT 1234
 
 if [ $AUTOCNF = yes ]
 then
-	param set MC_ROLL_P 7.0
+	param set MC_ROLL_P 7
 	param set MC_ROLLRATE_P 0.15
 	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCH_P 7.0
+	param set MC_PITCH_P 7
 	param set MC_PITCHRATE_P 0.15
 	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_D 0
 
 	# DJI ESCs do not support calibration and need a higher min
 	param set PWM_MIN 1230
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
index 9640e0772a..ae69b5b040 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
@@ -15,18 +15,18 @@ set PWM_OUT 1234
 
 if [ $AUTOCNF = yes ]
 then
-	param set MC_ROLL_P 7.0
+	param set MC_ROLL_P 7
 	param set MC_ROLLRATE_P 0.15
 	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCH_P 7.0
+	param set MC_PITCH_P 7
 	param set MC_PITCHRATE_P 0.15
 	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.3
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_D 0
 
 	# DJI ESCs do not support calibration and need a higher min
 	param set PWM_MIN 1230
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4012_quad_x_can b/ROMFS/px4fmu_common/init.d/airframes/4012_quad_x_can
index 48eac91c66..44b6a176f2 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4012_quad_x_can
+++ b/ROMFS/px4fmu_common/init.d/airframes/4012_quad_x_can
@@ -15,18 +15,18 @@ set PWM_OUT 1234
 
 if [ $AUTOCNF = yes ]
 then
-	param set MC_ROLL_P 7.0
+	param set MC_ROLL_P 7
 	param set MC_ROLLRATE_P 0.16
 	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCH_P 7.0
+	param set MC_PITCH_P 7
 	param set MC_PITCHRATE_P 0.16
 	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.3
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_D 0
 fi
 
 set MIXER quad_x_can
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4013_bebop b/ROMFS/px4fmu_common/init.d/airframes/4013_bebop
index f883237096..a0fbf19200 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4013_bebop
+++ b/ROMFS/px4fmu_common/init.d/airframes/4013_bebop
@@ -25,16 +25,16 @@ then
 	# Set all params here, then disable autoconfig
 	param set MC_ROLL_P 6.5
 	param set MC_ROLLRATE_P 0.109999999403953552
-	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_I 0
 	param set MC_ROLLRATE_D 0.0006
 	param set MC_PITCH_P 6.5
 	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_I 0
 	param set MC_PITCHRATE_D 0.000799999
 	param set MC_YAW_P 1.049999
 	param set MC_YAWRATE_P 0.05
 	param set MC_YAWRATE_I 0.001
-	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_D 0
 fi
 
 set OUTPUT_MODE bebop
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb b/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb
index c75cd55018..c6ffd69ee0 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb
+++ b/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb
@@ -22,18 +22,18 @@ set PWM_OUT 1234
 
 if [ $AUTOCNF = yes ]
 then
-	param set MC_ROLL_P 7.0
+	param set MC_ROLL_P 7
 	param set MC_ROLLRATE_P 0.1
 	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCH_P 7.0
+	param set MC_PITCH_P 7
 	param set MC_PITCHRATE_P 0.1
 	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_D 0
 
 	param set PWM_MIN 1200
 fi
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo b/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
index 41a227471d..efd9dd9750 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
+++ b/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
@@ -22,8 +22,8 @@ then
 	param set MC_PITCHRATE_P    0.11
 	param set MC_ROLLRATE_P     0.11
 	param set MPC_MANTHR_MIN    0.08
-	param set MPC_XY_VEL_MAX    3.0
-	param set MPC_Z_VEL_MAX_DN     2.0
+	param set MPC_XY_VEL_MAX    3
+	param set MPC_Z_VEL_MAX_DN     2
 
 	# INAV: higher GPS weights for better altitude control
 	param set INAV_W_Z_BARO     0.3
@@ -31,15 +31,15 @@ then
 	param set INAV_W_Z_GPS_V    0.8
 
 	# takeoff, land and RTL settings
-	param set MIS_TAKEOFF_ALT   4.0
-	param set COM_DISARM_LAND   1.0
+	param set MIS_TAKEOFF_ALT   4
+	param set COM_DISARM_LAND   1
 	param set RTL_LAND_DELAY    1
-	param set RTL_DESCEND_ALT   5.0
-	param set RTL_RETURN_ALT    15.0
-	param set MPC_TILTMAX_LND   8.0
+	param set RTL_DESCEND_ALT   5
+	param set RTL_RETURN_ALT    15
+	param set MPC_TILTMAX_LND   8
 	param set MPC_LAND_SPEED    0.4
 	param set MPC_HOLD_MAX_Z    1.5
-	param set MPC_TKO_JMPSPD    2.0
+	param set MPC_TKO_JMPSPD    2
 	param set MPC_TKO_SPEED     1.5
 
 	# setup
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad b/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
index 44f58f2f01..da6a20299b 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
@@ -19,7 +19,7 @@ then
 	param set MC_ROLLRATE_P 0.14
 	param set MC_ROLLRATE_I 0.1
 	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 6.0
+	param set MC_PITCH_P 6
 	param set MC_PITCHRATE_P 0.14
 	param set MC_PITCHRATE_I 0.09
 	param set MC_PITCHRATE_D 0.004
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper b/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
index 799d2a5dea..6945813d56 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
+++ b/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
@@ -23,13 +23,13 @@ then
 	param set MC_ROLLRATE_P 0.14
 	param set MC_ROLLRATE_I 0.1
 	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 6.0
+	param set MC_PITCH_P 6
 	param set MC_PITCHRATE_P 0.14
 	param set MC_PITCHRATE_I 0.09
 	param set MC_PITCHRATE_D 0.004
 	param set MC_YAW_P 4
 
-	param set NAV_ACC_RAD 2.0
+	param set NAV_ACC_RAD 2
 
 	param set PWM_AUX_DISARMED 950
 	param set PWM_AUX_RATE 50
@@ -37,8 +37,8 @@ then
 	param set PWM_MAX 1900
 	param set PWM_RATE 50
 
-	param set RTL_RETURN_ALT 30.0
-	param set RTL_DESCEND_ALT 10.0
+	param set RTL_RETURN_ALT 30
+	param set RTL_DESCEND_ALT 10
 fi
 
 set MIXER quad_h
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
index cb8819db11..93ccf11c28 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
@@ -15,24 +15,24 @@ set PWM_OUT 1234
 
 if [ $AUTOCNF = yes ]
 then
-	param set MC_ROLL_P 8.0
+	param set MC_ROLL_P 8
 	param set MC_ROLLRATE_P 0.08
 	param set MC_ROLLRATE_I 0.25
 	param set MC_ROLLRATE_D 0.001
-	param set MC_PITCH_P 8.0
+	param set MC_PITCH_P 8
 	param set MC_PITCHRATE_P 0.08
 	param set MC_PITCHRATE_I 0.25
 	param set MC_PITCHRATE_D 0.001
-	param set MC_YAW_P 4.0
+	param set MC_YAW_P 4
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_D 0
 
-	param set MC_ROLLRATE_MAX 1600.0
-	param set MC_PITCHRATE_MAX 1600.0
-	param set MC_YAWRATE_MAX 1000.0
+	param set MC_ROLLRATE_MAX 1600
+	param set MC_PITCHRATE_MAX 1600
+	param set MC_YAWRATE_MAX 1000
 
-	param set MPC_MANTHR_MIN 0.0
+	param set MPC_MANTHR_MIN 0
 	param set MPC_MAN_TILT_MAX 60
 
 	# use thrust curve factor (instead of TPA)
@@ -46,7 +46,7 @@ then
 	param set SDLOG_PROFILE 19
 
 	# disable RC filtering
-	param set RC_FLT_CUTOFF 0.00000
+	param set RC_FLT_CUTOFF 0
 
 	param set CBRK_IO_SAFETY 22027
 fi
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq b/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
index 5a2e7389d8..c7b42ed8a2 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
+++ b/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
@@ -28,33 +28,33 @@ set PWM_OUT 1234
 
 if [ $AUTOCNF = yes ]
 then
-	param set ATT_BIAS_MAX 0.0
+	param set ATT_BIAS_MAX 0
 
 	param set CBRK_IO_SAFETY 22027
 
-	param set MC_ROLL_P 8.0
+	param set MC_ROLL_P 8
 	param set MC_ROLLRATE_P 0.19
 	param set MC_ROLLRATE_I 0.1
 	param set MC_ROLLRATE_D 0.0055
-	param set MC_PITCH_P 8.0
+	param set MC_PITCH_P 8
 	param set MC_PITCHRATE_P 0.19
 	param set MC_PITCHRATE_I 0.1
 	param set MC_PITCHRATE_D 0.0055
-	param set MC_YAW_P 4.0
+	param set MC_YAW_P 4
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
-	param set MC_ROLLRATE_MAX 720.0
-	param set MC_PITCHRATE_MAX 720.0
-	param set MC_YAWRATE_MAX 400.0
-	param set MC_ACRO_R_MAX 360.0
-	param set MC_ACRO_P_MAX 360.0
+	param set MC_YAWRATE_D 0
+	param set MC_ROLLRATE_MAX 720
+	param set MC_PITCHRATE_MAX 720
+	param set MC_YAWRATE_MAX 400
+	param set MC_ACRO_R_MAX 360
+	param set MC_ACRO_P_MAX 360
 	param set MC_TPA_BREAK_D 0.3
-	param set MC_TPA_BREAK_I 1.0
+	param set MC_TPA_BREAK_I 1
 	param set MC_TPA_BREAK_P 0.3
-	param set MC_TPA_RATE_D 1.0
-	param set MC_TPA_RATE_I 0.0
-	param set MC_TPA_RATE_P 1.0
+	param set MC_TPA_RATE_D 1
+	param set MC_TPA_RATE_I 0
+	param set MC_TPA_RATE_P 1
 
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100 b/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
index e6c67933d4..8b60621a4f 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
+++ b/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
@@ -26,8 +26,8 @@ then
 	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.001
 	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.0
-	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_I 0
+	param set MC_YAWRATE_D 0
 
 	param set PWM_MIN 1200
 fi
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc b/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc
index 6956500f44..1226b1b48b 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc
+++ b/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc
@@ -23,14 +23,14 @@ if [ $AUTOCNF = yes ]
 then
 	# Set all params here, then disable autoconfig
 
-	param set COM_DISARM_LAND 3.0
+	param set COM_DISARM_LAND 3
 
 	param set EKF2_GPS_POS_X -0.0600
 	param set EKF2_GPS_POS_Z -0.1000
 	param set EKF2_MIN_OBS_DT 50
 
-	param set EKF2_BARO_GATE 10.0
-	param set EKF2_BARO_NOISE 5.0
+	param set EKF2_BARO_GATE 10
+	param set EKF2_BARO_NOISE 5
 	param set EKF2_ACC_NOISE 0.7
 
 	param set LNDMC_Z_VEL_MAX 2.0000
@@ -45,10 +45,10 @@ then
 	param set MC_PITCHRATE_I 0.07
 	param set MC_PITCHRATE_D 0.0012
 	param set MC_PITCHRATE_MAX 360
-	param set MC_YAW_P 4.0
+	param set MC_YAW_P 4
 	param set MC_YAWRATE_P 0.119999997317790985
 	param set MC_YAWRATE_I 0.050000000745058060
-	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_D 0
 
 	param set MPC_LAND_SPEED 0.7000
 	param set MPC_MANTHR_MIN 0.0400
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250 b/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
index 14266101d2..dfc8d46b24 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
@@ -31,14 +31,14 @@ then
 	param set MC_PITCHRATE_I 0.2
 	param set MC_PITCHRATE_D 0.0017
 
-	param set MC_YAW_P 1.0
+	param set MC_YAW_P 1
 	param set MC_YAWRATE_P 0.15
 	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_D 0
 
-	param set MC_ACRO_R_MAX 1000.0
-	param set MC_ACRO_P_MAX 1000.0
-	param set MC_ACRO_Y_MAX 1000.0
+	param set MC_ACRO_R_MAX 1000
+	param set MC_ACRO_P_MAX 1000
+	param set MC_ACRO_Y_MAX 1000
 
 	param set MC_TPA_BREAK_P 0.5
 	param set MC_TPA_BREAK_D 0.7
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind b/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
index 0723e19947..f6347ec0b5 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
+++ b/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
@@ -24,18 +24,18 @@ if [ $AUTOCNF = yes ]
 then
 	param set BAT_N_CELLS 1
 
-	param set MC_ROLL_P 8.0
+	param set MC_ROLL_P 8
 	param set MC_ROLLRATE_P 0.19
 	param set MC_ROLLRATE_I 0.1
 	param set MC_ROLLRATE_D 0.0055
-	param set MC_PITCH_P 8.0
+	param set MC_PITCH_P 8
 	param set MC_PITCHRATE_P 0.19
 	param set MC_PITCHRATE_I 0.1
 	param set MC_PITCHRATE_D 0.0055
-	param set MC_YAW_P 4.0
+	param set MC_YAW_P 4
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_D 0
 
 	param set PWM_DISARMED 0
 	param set PWM_MIN 500
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4250_teal b/ROMFS/px4fmu_common/init.d/airframes/4250_teal
index faf387061b..674f146aab 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4250_teal
+++ b/ROMFS/px4fmu_common/init.d/airframes/4250_teal
@@ -78,7 +78,7 @@ then
 	param set EKF2_PCOEF_XN 0.1
 	param set EKF2_PCOEF_XP -0.5
 	param set EKF2_RNG_AID 1
-	param set EKF2_RNG_A_VMAX 20.0
+	param set EKF2_RNG_A_VMAX 20
 	param set EKF2_RNG_NOISE 0.2
 
 	# gps
@@ -89,67 +89,67 @@ then
 
 	# land detector
 	param set LNDMC_THR_RANGE 0.50
-	param set LNDMC_XY_VEL_MAX 1.0
-	param set LNDMC_ROT_MAX 50.0
+	param set LNDMC_XY_VEL_MAX 1
+	param set LNDMC_ROT_MAX 50
 
 	# mavlink stream configuration
 	param set MAV_1_CONFIG 102
 	param set MAV_1_RATE 20000
 
 	# mc_att_control
-	param set MC_ACRO_P_MAX 360.0
-	param set MC_ACRO_R_MAX 360.0
-	param set MC_ACRO_Y_MAX 360.0
+	param set MC_ACRO_P_MAX 360
+	param set MC_ACRO_R_MAX 360
+	param set MC_ACRO_Y_MAX 360
 
-	param set MC_ROLL_P 6.0
+	param set MC_ROLL_P 6
 	param set MC_ROLLRATE_P 0.055
 	param set MC_ROLLRATE_I 0.2
 	param set MC_ROLLRATE_D 0.0012
-	param set MC_ROLLRATE_MAX 180.0
+	param set MC_ROLLRATE_MAX 180
 
 	param set MC_PITCHRATE_P 0.06
 	param set MC_PITCHRATE_I 0.2
 	param set MC_PITCHRATE_D 0.0012
-	param set MC_PITCHRATE_MAX 180.0
+	param set MC_PITCHRATE_MAX 180
 
-	param set MC_YAW_P 1.0
+	param set MC_YAW_P 1
 	param set MC_YAWRATE_P 0.08
 	param set MC_YAWRATE_I 0.08
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAWRATE_MAX 180.0
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_MAX 180
 
 	param set MOT_SLEW_MAX 0.15
 
 	# mc_pos_control
-	param set MPC_ACC_DOWN_MAX 10.0
-	param set MPC_ACC_HOR 10.0
-	param set MPC_ACC_HOR_MAX 15.0
-	param set MPC_ACC_UP_MAX 10.0
-	param set MPC_JERK_MAX 5.0
-	param set MPC_LAND_ALT1 8.0
-	param set MPC_LAND_ALT2 5.0
+	param set MPC_ACC_DOWN_MAX 10
+	param set MPC_ACC_HOR 10
+	param set MPC_ACC_HOR_MAX 15
+	param set MPC_ACC_UP_MAX 10
+	param set MPC_JERK_MAX 5
+	param set MPC_LAND_ALT1 8
+	param set MPC_LAND_ALT2 5
 	param set MPC_MANTHR_MAX 0.85
 	param set MPC_MANTHR_MIN 0.15
-	param set MPC_MAN_TILT_MAX 45.0
-	param set MPC_MAN_Y_MAX 200.0
+	param set MPC_MAN_TILT_MAX 45
+	param set MPC_MAN_Y_MAX 200
 	param set MPC_THR_MAX 0.85
 	param set MPC_THR_MIN 0.15
-	param set MPC_TILTMAX_AIR 45.0
+	param set MPC_TILTMAX_AIR 45
 	param set MPC_TKO_RAMP_T 0.75
 	param set MPC_TKO_SPEED 0.75
 	param set MPC_VEL_MANUAL 26.5
-	param set MPC_XY_CRUISE 15.0
+	param set MPC_XY_CRUISE 15
 	param set MPC_XY_P 1.15
 	param set MPC_XY_VEL_P 0.14
 	param set MPC_XY_VEL_I 0.014
 	param set MPC_XY_VEL_D 0.014
 	param set MPC_XY_VEL_MAX 26.5
 	param set MPC_Z_P 0.8
-	param set MPC_TILTMAX_LND 18.0
+	param set MPC_TILTMAX_LND 18
 
 	param set MPC_Z_VEL_D 0.02
 	param set MPC_Z_VEL_MAX_DN 2.5
-	param set MPC_Z_VEL_MAX_UP 6.0
+	param set MPC_Z_VEL_MAX_UP 6
 
 	# navigator
 	param set NAV_ACC_RAD 2.5
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
index 56df7d328f..118aaad312 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
+++ b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
@@ -1,6 +1,6 @@
 #!nsh
 #
-# @name Crazyflie 2.0
+# @name Crazyflie 2
 #
 # @board px4_fmu-v2 exclude
 # @board px4_fmu-v3 exclude
@@ -28,7 +28,7 @@ then
 	param set CBRK_USB_CHK 197848
 	param set COM_RC_IN_MODE 1
 
-	param set EKF2_ABL_LIM 2.0
+	param set EKF2_ABL_LIM 2
 	param set EKF2_AID_MASK 3
 	param set EKF2_HGT_MODE 2
 	param set EKF2_MAG_TYPE 1
@@ -47,10 +47,10 @@ then
 	param set MC_ROLLRATE_I 0.2
 	param set MC_ROLLRATE_P 0.07
 	param set MC_ROLL_P 6.5
-	param set MC_YAW_P 3.0
+	param set MC_YAW_P 3
 
 	param set MPC_THR_HOVER 0.7
-	param set MPC_THR_MAX 1.0
+	param set MPC_THR_MAX 1
 	param set MPC_Z_P 1.5
 	param set MPC_Z_VEL_I 0.3
 	param set MPC_Z_VEL_P 0.4
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index 101201be98..7eec57d565 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -19,7 +19,7 @@ then
 	param set COM_POS_FS_PROB 1
 	param set COM_VEL_FS_EVH 5
 
-	param set EKF2_ARSP_THR 8.0
+	param set EKF2_ARSP_THR 8
 	param set EKF2_FUSE_BETA 1
 	param set EKF2_MAG_ACCLIM 0
 	param set EKF2_MAG_YAWLIM 0
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
index 13460df31c..e9eaa2d848 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -9,10 +9,10 @@ set VEHICLE_TYPE mc
 
 if [ $AUTOCNF = yes ]
 then
-	param set NAV_ACC_RAD 2.0
+	param set NAV_ACC_RAD 2
 
-	param set RTL_RETURN_ALT 30.0
-	param set RTL_DESCEND_ALT 10.0
+	param set RTL_RETURN_ALT 30
+	param set RTL_DESCEND_ALT 10
 	param set RTL_LAND_DELAY 0
 
 	param set PWM_MAX 1950
diff --git a/ROMFS/px4fmu_common/init.d/rc.ugv_defaults b/ROMFS/px4fmu_common/init.d/rc.ugv_defaults
index c2ce7524a2..32429bc4a0 100644
--- a/ROMFS/px4fmu_common/init.d/rc.ugv_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.ugv_defaults
@@ -16,7 +16,7 @@ then
 	param set MIS_TAKEOFF_ALT 0.01
 
 	param set NAV_DLL_ACT 0
-	param set NAV_ACC_RAD 2.0
+	param set NAV_ACC_RAD 2
 
 	# Temporary.
 	param set NAV_FW_ALT_RAD 1000
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
index 3ea1abd4bb..fd1c714fbb 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@@ -12,10 +12,10 @@ then
 	param set MIS_TAKEOFF_ALT 20
 	param set MIS_YAW_TMT 10
 
-	param set MPC_ACC_HOR_MAX 2.0
+	param set MPC_ACC_HOR_MAX 2
 	param set MPC_LAND_SPEED 0.7
-	param set MPC_TKO_SPEED 1.0
-	param set MPC_XY_VEL_MAX 4.0
+	param set MPC_TKO_SPEED 1
+	param set MPC_XY_VEL_MAX 4
 	param set MPC_Z_VEL_MAX_DN 1.5
 
 	param set NAV_ACC_RAD 3
diff --git a/ROMFS/px4fmu_common/mixers/tilt_quad.aux.mix b/ROMFS/px4fmu_common/mixers/tilt_quad.aux.mix
index 5a58619e96..e6f63c98e9 100644
--- a/ROMFS/px4fmu_common/mixers/tilt_quad.aux.mix
+++ b/ROMFS/px4fmu_common/mixers/tilt_quad.aux.mix
@@ -1,4 +1,4 @@
-Tilt-Quadrotor mixer for PX4FMU (2/2) V2.0
+Tilt-Quadrotor mixer for PX4FMU (2/2) V2
 ===========================
 
 This file defines the aux outputs mixer for a Tilt-quadrotor in the + configuration.
diff --git a/ROMFS/px4fmu_common/mixers/tilt_quad.main.mix b/ROMFS/px4fmu_common/mixers/tilt_quad.main.mix
index f5047516d7..9c7b9b73dd 100644
--- a/ROMFS/px4fmu_common/mixers/tilt_quad.main.mix
+++ b/ROMFS/px4fmu_common/mixers/tilt_quad.main.mix
@@ -1,4 +1,4 @@
-Tilt-Quadrotor mixer for PX4FMU (1/2) V2.0
+Tilt-Quadrotor mixer for PX4FMU (1/2) V2
 ===========================
 
 This file defines the main outputs mixer for a Tilt-quadrotor in the + configuration.