diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index f70e0ed77f..1c9ded6a82 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -132,6 +132,10 @@ then
 	#
 	if param compare SYS_AUTOCONFIG 1
 	then
+		# We can't be sure the defaults haven't changed, so
+		# if someone requests a re-configuration, we do it
+		# cleanly from scratch (except autostart / autoconfig)
+		param reset_nostart
 		set DO_AUTOCONFIG yes
 	else
 		set DO_AUTOCONFIG no
diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c
index 328205e29b..f8bff2f6fe 100644
--- a/src/systemcmds/param/param.c
+++ b/src/systemcmds/param/param.c
@@ -64,6 +64,7 @@ static void	do_show_print(void *arg, param_t param);
 static void	do_set(const char* name, const char* val, bool fail_on_not_found);
 static void	do_compare(const char* name, const char* vals[], unsigned comparisons);
 static void	do_reset(void);
+static void	do_reset_nostart(void);
 
 int
 param_main(int argc, char *argv[])
@@ -142,6 +143,10 @@ param_main(int argc, char *argv[])
 		if (!strcmp(argv[1], "reset")) {
 			do_reset();
 		}
+
+		if (!strcmp(argv[1], "reset_nostart")) {
+			do_reset_nostart();
+		}
 	}
 	
 	errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'compare', 'select' or 'save'");
@@ -427,3 +432,26 @@ do_reset(void)
 		exit(0);
 	}
 }
+
+static void
+do_reset_nostart(void)
+{
+
+	int32_t autostart;
+	int32_t autoconfig;
+
+	(void)param_get(param_find("SYS_AUTOSTART"), &autostart);
+	(void)param_get(param_find("SYS_AUTOCONFIG"), &autoconfig);
+
+	param_reset_all();
+
+	(void)param_set(param_find("SYS_AUTOSTART"), &autostart);
+	(void)param_set(param_find("SYS_AUTOCONFIG"), &autoconfig);
+
+	if (param_save_default()) {
+		warnx("Param export failed.");
+		exit(1);
+	} else {
+		exit(0);
+	}
+}