diff --git a/posix-configs/SITL/init/10016_iris b/ROMFS/px4fmu_common/init.d-posix/10016_iris
similarity index 76%
rename from posix-configs/SITL/init/10016_iris
rename to ROMFS/px4fmu_common/init.d-posix/10016_iris
index 5ad6462f84..c0a8911cab 100644
--- a/posix-configs/SITL/init/10016_iris
+++ b/ROMFS/px4fmu_common/init.d-posix/10016_iris
@@ -4,7 +4,7 @@
 #
 # @type Quadrotor Wide
 #
-# @maintainer Anton Babushkin <julian@oes.ch>
+# @maintainer Julian Oes <julian@oes.ch>
 #
 
 pwm_out_sim mode_pwm
diff --git a/ROMFS/px4fmu_common/init.d-posix/6011_typhoon_h480 b/ROMFS/px4fmu_common/init.d-posix/6011_typhoon_h480
new file mode 100644
index 0000000000..3a09ad079a
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/6011_typhoon_h480
@@ -0,0 +1,32 @@
+#!nsh
+#
+# @name Typhoon H480 SITL
+#
+# @type Hexarotor x
+#
+
+if [ $AUTOCNF == yes ]
+then
+	param set MAV_TYPE 13
+
+	param set MC_PITCHRATE_P 0.1
+	param set MC_ROLLRATE_P 0.05
+	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_LAND_DELAY 0
+
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 0
+	param set MAV_PROTO_VER 2
+fi
+
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
+
+pwm_out_sim mode_pwm16
+mixer load /dev/pwm_output0 etc/mixers/hexa_x.main.mix
+mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
+vmount start
+camera_trigger start
diff --git a/posix-configs/SITL/init/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
similarity index 85%
rename from posix-configs/SITL/init/rcS
rename to ROMFS/px4fmu_common/init.d-posix/rcS
index e3bb2ecd8a..6db67e9a4d 100644
--- a/posix-configs/SITL/init/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -7,10 +7,35 @@ source px4-alias.sh
 # TODO: In the future we want to share rc.autostart with NuttX
 #source rc.autostart
 
+# Use the variable set by sitl_run.sh to choose the model settings.
+if [ "$PX4_SIM_MODEL" == "iris" ]; then
+	set REQUESTED_AUTOSTART 10016
+
+elif [ "$PX4_SIM_MODEL" == "typhoon_h480" ]; then
+	set REQUESTED_AUTOSTART 6011
+else
+	echo "Unknown model"
+	exit -1
+fi
+
 uorb start
-if ! param load
+if [ -f eeprom/parameters ]
 then
-	# param load fails the first time, set defaults
+	param load
+fi
+
+if param compare SYS_AUTOSTART $REQUESTED_AUTOSTART
+then
+	set AUTOCNF no
+else
+	set AUTOCNF yes
+fi
+
+
+if [ $AUTOCNF == yes ]
+then
+	param set SYS_AUTOSTART $REQUESTED_AUTOSTART
+
 	param set BAT_N_CELLS 3
 	param set CAL_ACC0_ID 1376264
 	param set CAL_ACC0_XOFF 0.01
@@ -54,6 +79,7 @@ then
 	param set SYS_RESTART_TYPE 2
 fi
 
+
 # Use environment variable PX4_ESTIMATOR to choose estimator.
 if [ "$PX4_ESTIMATOR" == "ekf2" ]; then
 	param set SYS_MC_EST_GROUP 2
@@ -61,17 +87,6 @@ elif [ "$PX4_ESTIMATOR" == "lpe" ]; then
 	param set SYS_MC_EST_GROUP 1
 fi
 
-# Use the variable set by sitl_run.sh to choose the model settings.
-if [ "$PX4_SIM_MODEL" == "iris" ]; then
-	param set SYS_AUTOSTART 10016
-
-elif [ "$PX4_SIM_MODEL" == "typhoon_h480" ]; then
-	param set SYS_AUTOSTART 6011
-else
-	echo "Unknown model"
-	exit -1
-fi
-
 dataman start
 replay tryapplyparams
 simulator start -s
@@ -104,11 +119,11 @@ mc_att_control start
 #       infrastructure already available on NuttX.
 if param compare SYS_AUTOSTART 10016
 then
-	source etc/init/10016_iris
+	source etc/init.d-posix/10016_iris
 
 elif param compare SYS_AUTOSTART 6011
 then
-	source etc/init/6011_typhoon_h480
+	source etc/init.d-posix/6011_typhoon_h480
 fi
 
 
@@ -125,6 +140,11 @@ 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
 
+# Required for the typhoon
+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 -b 1000
 
 mavlink boot_complete
diff --git a/ROMFS/sitl/mixers/CMakeLists.txt b/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt
similarity index 100%
rename from ROMFS/sitl/mixers/CMakeLists.txt
rename to ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt
diff --git a/ROMFS/sitl/mixers/delta_wing_sitl.main.mix b/ROMFS/px4fmu_common/mixers-sitl/delta_wing_sitl.main.mix
similarity index 100%
rename from ROMFS/sitl/mixers/delta_wing_sitl.main.mix
rename to ROMFS/px4fmu_common/mixers-sitl/delta_wing_sitl.main.mix
diff --git a/ROMFS/sitl/mixers/plane_sitl.main.mix b/ROMFS/px4fmu_common/mixers-sitl/plane_sitl.main.mix
similarity index 100%
rename from ROMFS/sitl/mixers/plane_sitl.main.mix
rename to ROMFS/px4fmu_common/mixers-sitl/plane_sitl.main.mix
diff --git a/ROMFS/sitl/mixers/quad_x_vtol.main.mix b/ROMFS/px4fmu_common/mixers-sitl/quad_x_vtol.main.mix
similarity index 100%
rename from ROMFS/sitl/mixers/quad_x_vtol.main.mix
rename to ROMFS/px4fmu_common/mixers-sitl/quad_x_vtol.main.mix
diff --git a/ROMFS/sitl/mixers/rover_sitl.main.mix b/ROMFS/px4fmu_common/mixers-sitl/rover_sitl.main.mix
similarity index 100%
rename from ROMFS/sitl/mixers/rover_sitl.main.mix
rename to ROMFS/px4fmu_common/mixers-sitl/rover_sitl.main.mix
diff --git a/ROMFS/sitl/mixers/standard_vtol_sitl.main.mix b/ROMFS/px4fmu_common/mixers-sitl/standard_vtol_sitl.main.mix
similarity index 100%
rename from ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
rename to ROMFS/px4fmu_common/mixers-sitl/standard_vtol_sitl.main.mix
diff --git a/ROMFS/sitl/mixers/tiltrotor_sitl.main.mix b/ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl.main.mix
similarity index 100%
rename from ROMFS/sitl/mixers/tiltrotor_sitl.main.mix
rename to ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/uuv_quad_x.mix b/ROMFS/px4fmu_common/mixers/uuv_quad_x.mix
new file mode 100644
index 0000000000..9f808e5b6b
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/uuv_quad_x.mix
@@ -0,0 +1,24 @@
+M: 4
+O:       10000   10000     0 -10000  10000
+S: 0 0  -10000  -10000     0 -10000  10000
+S: 0 1  -10000  -10000     0 -10000  10000
+S: 0 2  +10000  +10000     0 -10000  10000
+S: 0 3  +10000  +10000     0 -10000  10000
+M: 4
+O:       10000   10000     0 -10000  10000
+S: 0 0  +10000  +10000     0 -10000  10000
+S: 0 1  -10000  -10000     0 -10000  10000
+S: 0 2  -10000  -10000     0 -10000  10000
+S: 0 3  +10000  +10000     0 -10000  10000
+M: 4
+O:       10000   10000     0 -10000  10000
+S: 0 0  -10000  -10000     0 -10000  10000
+S: 0 1  +10000  +10000     0 -10000  10000
+S: 0 2  -10000  -10000     0 -10000  10000
+S: 0 3  +10000  +10000     0 -10000  10000
+M: 4
+O:       10000   10000     0 -10000  10000
+S: 0 0  +10000  +10000     0 -10000  10000
+S: 0 1  +10000  +10000     0 -10000  10000
+S: 0 2  +10000  +10000     0 -10000  10000
+S: 0 3  +10000  +10000     0 -10000  10000
diff --git a/ROMFS/sitl/CMakeLists.txt b/ROMFS/sitl/CMakeLists.txt
deleted file mode 100644
index 819ddc8c8c..0000000000
--- a/ROMFS/sitl/CMakeLists.txt
+++ /dev/null
@@ -1,34 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-add_subdirectory(mixers)
diff --git a/Tools/sitl_run.sh b/Tools/sitl_run.sh
index 53c9e3c6ae..1d301fde36 100755
--- a/Tools/sitl_run.sh
+++ b/Tools/sitl_run.sh
@@ -2,15 +2,13 @@
 
 set -e
 
-echo args: $@
-
-sitl_bin=$1
-rcS_path=$2
-debugger=$3
-program=$4
-model=$5
-src_path=$6
-build_path=$7
+sitl_bin="$1"
+rcS_path="$2"
+debugger="$3"
+program="$4"
+model="$5"
+src_path="$6"
+build_path="$7"
 
 echo SITL ARGS
 
@@ -22,17 +20,8 @@ echo model: $model
 echo src_path: $src_path
 echo build_path: $build_path
 
-working_dir=`pwd`
-rootfs=$build_path/tmp/rootfs
-
-if [ "$chroot" == "1" ]
-then
-	chroot_enabled=-c
-	sudo_enabled=sudo
-else
-	chroot_enabled=""
-	sudo_enabled=""
-fi
+rootfs="$build_path/tmp/rootfs" # this is the working directory
+mkdir -p "$rootfs"
 
 # To disable user input
 if [[ -n "$NO_PXH" ]]; then
@@ -52,7 +41,6 @@ if [ "$replay_mode" == "ekf2" ]
 then
 	model="iris_replay"
 	# create the publisher rules
-	mkdir -p $rootfs
 	publisher_rules_file="$rootfs/orb_publisher.rules"
 	cat <<EOF > "$publisher_rules_file"
 restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected
@@ -80,16 +68,16 @@ then
 	kill $jmavsim_pid
 fi
 
-cp $src_path/Tools/posix_lldbinit $working_dir/.lldbinit
-cp $src_path/Tools/posix.gdbinit $working_dir/.gdbinit
+cp $src_path/Tools/posix_lldbinit $rootfs/.lldbinit
+cp $src_path/Tools/posix.gdbinit $rootfs/.gdbinit
 
 SIM_PID=0
 
 if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]
 then
+	# Start Java simulator
 	$src_path/Tools/jmavsim_run.sh -r 500 &
 	SIM_PID=`echo $!`
-	cd ../..
 elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]
 then
 	if [ -x "$(command -v gazebo)" ]
@@ -118,27 +106,29 @@ then
 	fi
 fi
 
-cd $working_dir
+pushd "$rootfs" >/dev/null
 
 # Do not exit on failure now from here on because we want the complete cleanup
 set +e
 
-sitl_command="$sitl_bin $no_pxh $rootfs $rootfs/${rcS_path}"
+# 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 $src_path/test_data"
+else
+	sitl_command="$sitl_bin $no_pxh $src_path/ROMFS/px4fmu_common -s ${src_path}/${rcS_path}/${model} -t $src_path/test_data"
+fi
 
 echo SITL COMMAND: $sitl_command
 
-# Prepend to path to prioritize PX4 commands over potentially already
-# installed PX4 commands.
-export PATH="$build_path/bin":$PATH
-
 export PX4_SIM_MODEL=${model}
 
-pushd $rootfs
 
 if [[ -n "$DONT_RUN" ]]
 then
     echo "Not running simulation (\$DONT_RUN is set)."
-# Start Java simulator
 elif [ "$debugger" == "lldb" ]
 then
 	lldb -- $sitl_command
@@ -167,7 +157,7 @@ else
 	eval $sitl_command
 fi
 
-popd
+popd >/dev/null
 
 if [[ -z "$DONT_RUN" ]]
 then
diff --git a/cmake/configs/posix_sitl_default.cmake b/cmake/configs/posix_sitl_default.cmake
index b27477d63b..a523202659 100644
--- a/cmake/configs/posix_sitl_default.cmake
+++ b/cmake/configs/posix_sitl_default.cmake
@@ -148,7 +148,7 @@ set(config_module_list
 # Default config_sitl_rcS_dir (posix_sitl_default), this is overwritten later
 # for the config posix_sitl_efk2 and set again, explicitly, for posix_sitl_lpe,
 # which are based on posix_sitl_default.
-set(config_sitl_rcS_dir etc/init/rcS CACHE INTERNAL "init script dir for sitl")
+set(config_sitl_rcS_dir posix-configs/SITL/init/ekf2 CACHE INTERNAL "init script dir for sitl")
 
 set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
 set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")
diff --git a/cmake/posix/px4-alias.sh_in b/cmake/posix/px4-alias.sh_in
index e6ebb88681..e0c361feb3 100644
--- a/cmake/posix/px4-alias.sh_in
+++ b/cmake/posix/px4-alias.sh_in
@@ -7,6 +7,14 @@ if [ ! -n "$ZSH_VERSION" ]; then
 	shopt -s expand_aliases
 fi
 
+# Map the NuttX-style variable definition 'set <var> <value>' to something that
+# bash and alternatives understand
+set() {
+	eval $1=$2
+}
+# alternative method with an alias:
+# alias set='f(){ set -- "$1=$2"; eval "$1"; unset -f f; }; eval f'
+
 # Don't stop on errors.
 #set -e
 
diff --git a/platforms/posix/CMakeLists.txt b/platforms/posix/CMakeLists.txt
index a93613ce82..922298980c 100644
--- a/platforms/posix/CMakeLists.txt
+++ b/platforms/posix/CMakeLists.txt
@@ -207,27 +207,3 @@ px4_posix_generate_symlinks(
 	TARGET px4
 )
 
-add_custom_command(TARGET px4
-	POST_BUILD
-	COMMAND mkdir -p ${CMAKE_BINARY_DIR}/rootfs/etc/
-	)
-
-add_custom_command(TARGET px4
-	POST_BUILD
-	COMMAND mkdir -p ${CMAKE_BINARY_DIR}/rootfs/etc/
-	)
-
-add_custom_command(TARGET px4
-	POST_BUILD
-	COMMAND cp -R ${PROJECT_SOURCE_DIR}/posix-configs/SITL/init ${CMAKE_BINARY_DIR}/rootfs/etc/
-)
-
-add_custom_command(TARGET px4
-	POST_BUILD
-	COMMAND cp -R ${PROJECT_SOURCE_DIR}/ROMFS/sitl/mixers ${CMAKE_BINARY_DIR}/rootfs/etc/
-)
-
-add_custom_command(TARGET px4
-	POST_BUILD
-	COMMAND cp -R ${PROJECT_SOURCE_DIR}/ROMFS/px4fmu_common/mixers ${CMAKE_BINARY_DIR}/rootfs/etc/
-)
diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake
index 63b638d590..e022f817a3 100644
--- a/platforms/posix/cmake/sitl_target.cmake
+++ b/platforms/posix/cmake/sitl_target.cmake
@@ -3,7 +3,7 @@ file(MAKE_DIRECTORY ${SITL_WORKING_DIR})
 
 # add a symlink to the logs dir to make it easier to find them
 add_custom_command(OUTPUT ${PX4_BINARY_DIR}/logs
-		COMMAND ${CMAKE_COMMAND} -E create_symlink ${SITL_WORKING_DIR}/rootfs/fs/microsd/log logs
+		COMMAND ${CMAKE_COMMAND} -E create_symlink ${SITL_WORKING_DIR}/rootfs/log logs
 		WORKING_DIRECTORY ${PX4_BINARY_DIR})
 add_custom_target(logs_symlink DEPENDS ${PX4_BINARY_DIR}/logs)
 
diff --git a/platforms/posix/src/main.cpp b/platforms/posix/src/main.cpp
index 7b4b980578..e2c391ed54 100644
--- a/platforms/posix/src/main.cpp
+++ b/platforms/posix/src/main.cpp
@@ -52,14 +52,17 @@
  */
 
 #include <string>
+#include <algorithm>
 #include <fstream>
 #include <signal.h>
 #include <stdio.h>
 #include <errno.h>
 #include <fcntl.h>
 #include <sys/stat.h>
+#include <stdlib.h>
 
 #include <px4_log.h>
+#include <px4_getopt.h>
 #include <px4_tasks.h>
 #include <px4_posix.h>
 #include <px4_log.h>
@@ -96,12 +99,14 @@ static void register_sig_handler();
 static void set_cpu_scaling();
 static int create_symlinks_if_needed(std::string &data_path);
 static int create_dirs();
-static int run_startup_bash_script(const char *commands_file);
+static int run_startup_bash_script(const std::string &commands_file, const std::string &absolute_binary_path);
+static std::string get_absolute_binary_path(const std::string &argv0);
 static void wait_to_exit();
 static bool is_already_running();
 static void print_usage();
 static bool dir_exists(const std::string &path);
 static bool file_exists(const std::string &name);
+static std::string file_basename(std::string const &pathname);
 static std::string pwd();
 
 
@@ -120,16 +125,20 @@ int main(int argc, char **argv)
 	const char prefix[] = PX4_BASH_PREFIX;
 	int path_length = 0;
 
+	std::string absolute_binary_path; // full path to the px4 binary being executed
 
 	if (argc > 0) {
 		/* The executed binary name could start with a path, so strip it away */
 		const std::string full_binary_name = argv[0];
 		const std::string binary_name = file_basename(full_binary_name);
+
 		if (binary_name.compare(0, strlen(prefix), prefix) == 0) {
 			is_client = true;
 		}
+
 		path_length = full_binary_name.length() - binary_name.length();
 
+		absolute_binary_path = get_absolute_binary_path(full_binary_name);
 	}
 
 	if (is_client) {
@@ -155,78 +164,68 @@ int main(int argc, char **argv)
 
 		/* Server/daemon apps need to parse the command line arguments. */
 
-		int positional_arg_count = 0;
 		std::string data_path = "";
-		std::string commands_file = "";
-		std::string node_name = "";
+		std::string commands_file = "etc/init.d/rcS";
+		std::string test_data_path = "";
 
-		// parse arguments
-		for (int i = 1; i < argc; ++i) {
-			if (argv[i][0] == '-') {
+		int myoptind = 1;
+		int ch;
+		const char *myoptarg = nullptr;
 
-				if (strcmp(argv[i], "-h") == 0) {
-					print_usage();
-					return 0;
+		while ((ch = px4_getopt(argc, argv, "hdt:s:", &myoptind, &myoptarg)) != EOF) {
+			switch (ch) {
+			case 'h':
+				print_usage();
+				return 0;
 
-				} else if (strcmp(argv[i], "-d") == 0) {
-					pxh_off = true;
+			case 'd':
+				pxh_off = true;
+				break;
 
-				} else {
-					printf("Unknown/unhandled parameter: %s\n", argv[i]);
-					print_usage();
-					return 1;
-				}
+			case 't':
+				test_data_path = myoptarg;
+				break;
 
-			} else if (!strncmp(argv[i], "__", 2)) {
+			case 's':
+				commands_file = myoptarg;
+				break;
 
-				// FIXME: what is this?
-				// ros arguments
-				if (!strncmp(argv[i], "__name:=", 8)) {
-					std::string name_arg = argv[i];
-					node_name = name_arg.substr(8);
-					PX4_INFO("node name: %s", node_name.c_str());
-				}
-
-			} else {
-				//printf("positional argument\n");
-
-				positional_arg_count += 1;
-
-				if (positional_arg_count == 1) {
-					commands_file = argv[i];
-
-				} else if (positional_arg_count == 2) {
-					data_path = commands_file;
-					commands_file = argv[i];
-				}
-			}
-
-			if (positional_arg_count != 2 && positional_arg_count != 1) {
-				PX4_ERR("Error expected 1 or 2 position arguments, got %d", positional_arg_count);
+			default:
+				PX4_ERR("unrecognized flag");
 				print_usage();
 				return -1;
 			}
 		}
 
+		if (myoptind < argc) {
+			data_path = argv[myoptind];
+		}
+
+		int ret = create_symlinks_if_needed(data_path);
+
+		if (ret != PX4_OK) {
+			return ret;
+		}
+
+		if (test_data_path != "") {
+			const std::string required_test_data_path = "./test_data";
+
+			if (!dir_exists(required_test_data_path.c_str())) {
+				symlink(test_data_path.c_str(), required_test_data_path.c_str());
+			}
+		}
+
 		if (!file_exists(commands_file)) {
 			PX4_ERR("Error opening startup file, does not exist: %s", commands_file.c_str());
 			return -1;
 		}
 
-		PX4_INFO("startup file: %s", commands_file.c_str());
-
 		register_sig_handler();
 		set_cpu_scaling();
 
 		px4_daemon::Server server;
 		server.start();
 
-		int ret = create_symlinks_if_needed(data_path);
-
-		if (ret != PX4_OK) {
-			return ret;
-		}
-
 		ret = create_dirs();
 
 		if (ret != PX4_OK) {
@@ -238,7 +237,7 @@ int main(int argc, char **argv)
 		px4::init_once();
 		px4::init(argc, argv, "px4");
 
-		ret = run_startup_bash_script(commands_file.c_str());
+		ret = run_startup_bash_script(commands_file, absolute_binary_path);
 
 		// We now block here until we need to exit.
 		if (pxh_off) {
@@ -283,33 +282,28 @@ int create_symlinks_if_needed(std::string &data_path)
 		return PX4_OK;
 	}
 
-	std::vector<std::string> path_sym_links;
-	path_sym_links.push_back("etc");
-	path_sym_links.push_back("test_data");
+	const std::string path_sym_link = "etc";
 
-	for (const auto &it = path_sym_links.begin(); it != path_sym_links.end(); ++it) {
+	PX4_DEBUG("path sym link: %s", path_sym_link.c_str());
 
-		PX4_DEBUG("path sym link: %s", it->c_str());;
+	std::string src_path = data_path;
+	std::string dest_path = current_path + "/" + path_sym_link;
 
-		std::string src_path = data_path + "/" + *it;
-		std::string dest_path = current_path + "/" + *it;
+	if (dir_exists(dest_path.c_str())) {
+		return PX4_OK;
+	}
 
-		if (dir_exists(dest_path.c_str())) {
-			continue;
-		}
+	PX4_INFO("Creating symlink %s -> %s", src_path.c_str(), dest_path.c_str());
 
-		PX4_INFO("Creating symlink %s -> %s", src_path.c_str(), dest_path.c_str());
+	// create sym-link
+	int ret = symlink(src_path.c_str(), dest_path.c_str());
 
-		// create sym-links
-		int ret = symlink(src_path.c_str(), dest_path.c_str());
+	if (ret != 0) {
+		PX4_ERR("Error creating symlink %s -> %s", src_path.c_str(), dest_path.c_str());
+		return ret;
 
-		if (ret != 0) {
-			PX4_ERR("Error creating symlink %s -> %s", src_path.c_str(), dest_path.c_str());
-			return ret;
-
-		} else {
-			PX4_DEBUG("Successfully created symlink %s -> %s", src_path.c_str(), dest_path.c_str());
-		}
+	} else {
+		PX4_DEBUG("Successfully created symlink %s -> %s", src_path.c_str(), dest_path.c_str());
 	}
 
 	return PX4_OK;
@@ -416,13 +410,71 @@ void set_cpu_scaling()
 #endif
 }
 
-int run_startup_bash_script(const char *commands_file)
+std::string get_absolute_binary_path(const std::string &argv0)
+{
+	// On Linux we could also use readlink("/proc/self/exe", buf, bufsize) to get the absolute path
+
+	std::size_t last_slash = argv0.find_last_of("/");
+
+	if (last_slash == std::string::npos) {
+		// either relative path or in PATH (PATH is ignored here)
+		return pwd();
+	}
+
+	std::string base = argv0.substr(0, last_slash);
+
+	if (base.length() > 0 && base[0] == '/') {
+		// absolute path
+		return base;
+	}
+
+	// relative path
+	return pwd() + "/" + base;
+}
+
+int run_startup_bash_script(const std::string &commands_file, const std::string &absolute_binary_path)
 {
 	std::string bash_command("bash ");
 
 	bash_command += commands_file;
 
-	PX4_INFO("Calling bash script: %s", bash_command.c_str());
+	// Update the PATH variable to include the absolute_binary_path
+	// (required for the px4-alias.sh script and px4-* commands).
+	// They must be within the same directory as the px4 binary
+	const char *path_variable = "PATH";
+	std::string updated_path = absolute_binary_path;
+	const char *path = getenv(path_variable);
+
+	if (path) {
+		std::string spath = path;
+
+		// Check if absolute_binary_path already in PATH
+		bool already_in_path = false;
+		std::size_t current, previous = 0;
+		current = spath.find(':');
+
+		while (current != std::string::npos) {
+			if (spath.substr(previous, current - previous) == absolute_binary_path) {
+				already_in_path = true;
+			}
+
+			previous = current + 1;
+			current = spath.find(':', previous);
+		}
+
+		if (spath.substr(previous, current - previous) == absolute_binary_path) {
+			already_in_path = true;
+		}
+
+		if (!already_in_path) {
+			// Prepend to path to prioritize PX4 commands over potentially already installed PX4 commands.
+			updated_path = updated_path + ":" + path;
+			setenv(path_variable, updated_path.c_str(), 1);
+		}
+	}
+
+
+	PX4_INFO("Calling startup script: %s", bash_command.c_str());
 
 	int ret = 0;
 
@@ -454,11 +506,11 @@ void print_usage()
 {
 	printf("Usage for Server/daemon process: \n");
 	printf("\n");
-	printf("    px4 [-h|-d] [rootfs_directory] startup_file\n");
+	printf("    px4 [-h|-d] [-s <startup_file>] [-d <test_data_directory>] [<rootfs_directory>]\n");
 	printf("\n");
+	printf("    <startup_file>     bash start script to be used as startup (default=etc/init.d/rcS)\n");
 	printf("    <rootfs_directory> directory where startup files and mixers are located,\n");
 	printf("                       (if not given, CWD is used)\n");
-	printf("    <startup_file>     bash start script to be used as startup\n");
 	printf("        -h             help/usage information\n");
 	printf("        -d             daemon mode, don't start pxh shell\n");
 	printf("\n");
@@ -505,6 +557,18 @@ bool file_exists(const std::string &name)
 	return (stat(name.c_str(), &buffer) == 0);
 }
 
+static std::string file_basename(std::string const &pathname)
+{
+	struct MatchPathSeparator {
+		bool operator()(char ch) const
+		{
+			return ch == '/';
+		}
+	};
+	return std::string(std::find_if(pathname.rbegin(), pathname.rend(),
+					MatchPathSeparator()).base(), pathname.end());
+}
+
 bool dir_exists(const std::string &path)
 {
 	struct stat info;
diff --git a/platforms/posix/src/px4_layer/px4_posix_tasks.cpp b/platforms/posix/src/px4_layer/px4_posix_tasks.cpp
index f8570fcc91..e74c588419 100644
--- a/platforms/posix/src/px4_layer/px4_posix_tasks.cpp
+++ b/platforms/posix/src/px4_layer/px4_posix_tasks.cpp
@@ -227,6 +227,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
 	pthread_mutex_lock(&task_mutex);
 
 	px4_task_t taskid = 0;
+
 	for (i = 0; i < PX4_MAX_TASKS; ++i) {
 		if (!taskmap[i].isused) {
 			taskmap[i].name = name;
diff --git a/posix-configs/SITL/init/6011_typhoon_h480 b/posix-configs/SITL/init/6011_typhoon_h480
deleted file mode 100644
index f4ece2b5d9..0000000000
--- a/posix-configs/SITL/init/6011_typhoon_h480
+++ /dev/null
@@ -1,15 +0,0 @@
-#!nsh
-#
-# @name Typhoon H480 SITL
-#
-# @type Hexarotor x
-#
-# @maintainer empty@empty.com
-#
-
-param set MAV_TYPE 13
-
-pwm_out_sim mode_pwm16
-mixer load /dev/pwm_output0 etc/mixers/hexa_x.main.mix
-mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
-vmount start
diff --git a/posix-configs/SITL/init/CMakeLists.txt b/posix-configs/SITL/init/CMakeLists.txt
deleted file mode 100644
index 2483929ffa..0000000000
--- a/posix-configs/SITL/init/CMakeLists.txt
+++ /dev/null
@@ -1,59 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-set(posix_init_file_names
-	rcS
-	rcS_tests
-	6011_typhoon_h480
-	10016_iris
-)
-
-# Get absolute paths
-set(posix_init_files)
-foreach(posix_file ${posix_init_file_names})
-	list(APPEND posix_init_files ${CMAKE_CURRENT_SOURCE_DIR}/${posix_file})
-endforeach()
-
-set(init_directory ${ROOTFS_DIRECTORY}/etc/init)
-
-add_custom_target(posix_init_dir
-	COMMAND ${CMAKE_COMMAND} -E make_directory ${init_directory}
-)
-
-# cmake -E copy with version < 3.5 does not support copying multiple files yet, therefore use cp.
-add_custom_target(posix_init
-	COMMAND cp ${posix_init_files} ${init_directory}
-	DEPENDS posix_init_dir
-)
-
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/posix-configs/SITL/init/ekf2/hippocampus b/posix-configs/SITL/init/ekf2/hippocampus
index c6efc8cf25..9470905928 100644
--- a/posix-configs/SITL/init/ekf2/hippocampus
+++ b/posix-configs/SITL/init/ekf2/hippocampus
@@ -1,3 +1,8 @@
+#!/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
@@ -14,7 +19,7 @@ dataman start
 simulator start -s
 
 pwm_out_sim start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_test/mixers/uuv_quad_x.mix
+mixer load /dev/pwm_output0 etc/mixers/uuv_quad_x.mix
 
 gyrosim start
 accelsim start
diff --git a/posix-configs/SITL/init/ekf2/iris b/posix-configs/SITL/init/ekf2/iris
index 91ebb0b3b8..b5a829d0bc 100644
--- a/posix-configs/SITL/init/ekf2/iris
+++ b/posix-configs/SITL/init/ekf2/iris
@@ -1,3 +1,8 @@
+#!/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
@@ -60,7 +65,7 @@ navigator start
 ekf2 start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+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
diff --git a/posix-configs/SITL/init/ekf2/iris_1 b/posix-configs/SITL/init/ekf2/iris_1
index 80887475d7..7f39f4e0c4 100644
--- a/posix-configs/SITL/init/ekf2/iris_1
+++ b/posix-configs/SITL/init/ekf2/iris_1
@@ -1,3 +1,8 @@
+#!/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
@@ -62,7 +67,7 @@ navigator start
 ekf2 start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+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
diff --git a/posix-configs/SITL/init/ekf2/iris_2 b/posix-configs/SITL/init/ekf2/iris_2
index f9e52518f7..ab6955058e 100644
--- a/posix-configs/SITL/init/ekf2/iris_2
+++ b/posix-configs/SITL/init/ekf2/iris_2
@@ -1,3 +1,8 @@
+#!/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
@@ -62,7 +67,7 @@ navigator start
 ekf2 start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+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
diff --git a/posix-configs/SITL/init/ekf2/iris_irlock b/posix-configs/SITL/init/ekf2/iris_irlock
index 7d02ce9d04..2e856c25db 100644
--- a/posix-configs/SITL/init/ekf2/iris_irlock
+++ b/posix-configs/SITL/init/ekf2/iris_irlock
@@ -1,3 +1,8 @@
+#!/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
@@ -62,7 +67,7 @@ ekf2 start
 landing_target_estimator start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+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
diff --git a/posix-configs/SITL/init/ekf2/iris_opt_flow b/posix-configs/SITL/init/ekf2/iris_opt_flow
index cce944e236..cd1e2dac52 100644
--- a/posix-configs/SITL/init/ekf2/iris_opt_flow
+++ b/posix-configs/SITL/init/ekf2/iris_opt_flow
@@ -1,3 +1,8 @@
+#!/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
@@ -64,7 +69,7 @@ navigator start
 ekf2 start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+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
diff --git a/posix-configs/SITL/init/ekf2/iris_replay b/posix-configs/SITL/init/ekf2/iris_replay
index 3e0db5f007..aac625fb5e 100644
--- a/posix-configs/SITL/init/ekf2/iris_replay
+++ b/posix-configs/SITL/init/ekf2/iris_replay
@@ -1,3 +1,8 @@
+#!/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 set SDLOG_DIRS_MAX 7
 
diff --git a/posix-configs/SITL/init/ekf2/iris_rplidar b/posix-configs/SITL/init/ekf2/iris_rplidar
index 91ebb0b3b8..b5a829d0bc 100644
--- a/posix-configs/SITL/init/ekf2/iris_rplidar
+++ b/posix-configs/SITL/init/ekf2/iris_rplidar
@@ -1,3 +1,8 @@
+#!/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
@@ -60,7 +65,7 @@ navigator start
 ekf2 start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+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
diff --git a/posix-configs/SITL/init/ekf2/iris_vision b/posix-configs/SITL/init/ekf2/iris_vision
index 892c56c071..33a5fa0c4d 100644
--- a/posix-configs/SITL/init/ekf2/iris_vision
+++ b/posix-configs/SITL/init/ekf2/iris_vision
@@ -1,3 +1,8 @@
+#!/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
@@ -63,7 +68,7 @@ navigator start
 ekf2 start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+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
diff --git a/posix-configs/SITL/init/ekf2/multiple_iris b/posix-configs/SITL/init/ekf2/multiple_iris
index 7c972ea3aa..addd172b8f 100644
--- a/posix-configs/SITL/init/ekf2/multiple_iris
+++ b/posix-configs/SITL/init/ekf2/multiple_iris
@@ -1,3 +1,8 @@
+#!/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
@@ -60,7 +65,7 @@ navigator start
 ekf2 start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+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_
diff --git a/posix-configs/SITL/init/ekf2/plane b/posix-configs/SITL/init/ekf2/plane
index cfffadbbef..7b776dce39 100644
--- a/posix-configs/SITL/init/ekf2/plane
+++ b/posix-configs/SITL/init/ekf2/plane
@@ -1,3 +1,8 @@
+#!/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
@@ -84,7 +89,7 @@ fw_pos_control_l1 start
 fw_att_control start
 land_detector start fixedwing
 wind_estimator start
-mixer load /dev/pwm_output0 ROMFS/sitl/mixers/plane_sitl.main.mix
+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
diff --git a/posix-configs/SITL/init/ekf2/rover b/posix-configs/SITL/init/ekf2/rover
index 8bf29c99be..1c4c4a08ba 100644
--- a/posix-configs/SITL/init/ekf2/rover
+++ b/posix-configs/SITL/init/ekf2/rover
@@ -1,3 +1,8 @@
+#!/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
@@ -65,7 +70,7 @@ navigator start
 ekf2 start
 gnd_pos_control start
 gnd_att_control start
-mixer load /dev/pwm_output0 ROMFS/sitl/mixers/rover_sitl.main.mix
+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
diff --git a/posix-configs/SITL/init/ekf2/solo b/posix-configs/SITL/init/ekf2/solo
index 8589dbf733..82cd222ad3 100644
--- a/posix-configs/SITL/init/ekf2/solo
+++ b/posix-configs/SITL/init/ekf2/solo
@@ -1,3 +1,8 @@
+#!/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
@@ -57,7 +62,7 @@ navigator start
 ekf2 start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
+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
diff --git a/posix-configs/SITL/init/ekf2/standard_vtol b/posix-configs/SITL/init/ekf2/standard_vtol
index ac5216411b..4a7babc6b7 100644
--- a/posix-configs/SITL/init/ekf2/standard_vtol
+++ b/posix-configs/SITL/init/ekf2/standard_vtol
@@ -1,3 +1,8 @@
+#!/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
@@ -80,7 +85,7 @@ mc_att_control start
 fw_pos_control_l1 start
 fw_att_control start
 wind_estimator start
-mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
+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
diff --git a/posix-configs/SITL/init/ekf2/tailsitter b/posix-configs/SITL/init/ekf2/tailsitter
index 88a1bec8cc..059487a9a1 100644
--- a/posix-configs/SITL/init/ekf2/tailsitter
+++ b/posix-configs/SITL/init/ekf2/tailsitter
@@ -1,3 +1,8 @@
+#!/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
@@ -63,7 +68,7 @@ mc_att_control start
 fw_pos_control_l1 start
 fw_att_control start
 wind_estimator start
-mixer load /dev/pwm_output0 ROMFS/sitl/mixers/quad_x_vtol.main.mix
+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
diff --git a/posix-configs/SITL/init/ekf2/tiltrotor b/posix-configs/SITL/init/ekf2/tiltrotor
index 89270954dd..5160a8cb43 100644
--- a/posix-configs/SITL/init/ekf2/tiltrotor
+++ b/posix-configs/SITL/init/ekf2/tiltrotor
@@ -1,3 +1,8 @@
+#!/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
@@ -97,7 +102,7 @@ mc_att_control start
 fw_pos_control_l1 start
 fw_att_control start
 wind_estimator start
-mixer load /dev/pwm_output0 ROMFS/sitl/mixers/tiltrotor_sitl.main.mix
+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
diff --git a/posix-configs/SITL/init/ekf2/typhoon_h480 b/posix-configs/SITL/init/ekf2/typhoon_h480
index 6c92d6c7d1..34dc0e81a0 100644
--- a/posix-configs/SITL/init/ekf2/typhoon_h480
+++ b/posix-configs/SITL/init/ekf2/typhoon_h480
@@ -1,3 +1,8 @@
+#!/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
@@ -63,8 +68,8 @@ navigator start
 ekf2 start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix
-mixer append /dev/pwm_output0 ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
+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
diff --git a/posix-configs/SITL/init/inav/iris b/posix-configs/SITL/init/inav/iris
index 6f5350d7b6..920f03ee59 100644
--- a/posix-configs/SITL/init/inav/iris
+++ b/posix-configs/SITL/init/inav/iris
@@ -1,3 +1,8 @@
+#!/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
@@ -59,7 +64,7 @@ attitude_estimator_q start
 position_estimator_inav start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
+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
diff --git a/posix-configs/SITL/init/inav/iris_opt_flow b/posix-configs/SITL/init/inav/iris_opt_flow
index fc3df8467b..965c68fd7d 100644
--- a/posix-configs/SITL/init/inav/iris_opt_flow
+++ b/posix-configs/SITL/init/inav/iris_opt_flow
@@ -1,3 +1,8 @@
+#!/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
@@ -61,7 +66,7 @@ attitude_estimator_q start
 position_estimator_inav start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+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
diff --git a/posix-configs/SITL/init/lpe/hippocampus b/posix-configs/SITL/init/lpe/hippocampus
index 216b893511..e72fba2870 100644
--- a/posix-configs/SITL/init/lpe/hippocampus
+++ b/posix-configs/SITL/init/lpe/hippocampus
@@ -1,3 +1,8 @@
+#!/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
@@ -14,7 +19,7 @@ dataman start
 simulator start -s
 
 pwm_out_sim start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_test/mixers/uuv_quad_x.mix
+mixer load /dev/pwm_output0 etc/mixers/uuv_quad_x.mix
 
 gyrosim start
 accelsim start
diff --git a/posix-configs/SITL/init/lpe/iris b/posix-configs/SITL/init/lpe/iris
index 9e61b8809e..bab127333e 100644
--- a/posix-configs/SITL/init/lpe/iris
+++ b/posix-configs/SITL/init/lpe/iris
@@ -1,3 +1,8 @@
+#!/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
@@ -61,7 +66,7 @@ attitude_estimator_q start
 local_position_estimator start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+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
diff --git a/posix-configs/SITL/init/lpe/iris_1 b/posix-configs/SITL/init/lpe/iris_1
index 7ad0f521e6..a2e1a61bb3 100644
--- a/posix-configs/SITL/init/lpe/iris_1
+++ b/posix-configs/SITL/init/lpe/iris_1
@@ -1,3 +1,8 @@
+#!/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
@@ -63,7 +68,7 @@ attitude_estimator_q start
 local_position_estimator start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+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
diff --git a/posix-configs/SITL/init/lpe/iris_2 b/posix-configs/SITL/init/lpe/iris_2
index 79df05e7a0..bc0f642d11 100644
--- a/posix-configs/SITL/init/lpe/iris_2
+++ b/posix-configs/SITL/init/lpe/iris_2
@@ -1,3 +1,8 @@
+#!/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
@@ -63,7 +68,7 @@ attitude_estimator_q start
 local_position_estimator start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+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
diff --git a/posix-configs/SITL/init/lpe/iris_irlock b/posix-configs/SITL/init/lpe/iris_irlock
index 0337d09b4f..a624b13c3c 100644
--- a/posix-configs/SITL/init/lpe/iris_irlock
+++ b/posix-configs/SITL/init/lpe/iris_irlock
@@ -1,3 +1,8 @@
+#!/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
@@ -70,7 +75,7 @@ local_position_estimator start
 landing_target_estimator start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+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
diff --git a/posix-configs/SITL/init/lpe/iris_opt_flow b/posix-configs/SITL/init/lpe/iris_opt_flow
index 7ab67dc568..aba025b290 100644
--- a/posix-configs/SITL/init/lpe/iris_opt_flow
+++ b/posix-configs/SITL/init/lpe/iris_opt_flow
@@ -1,3 +1,8 @@
+#!/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
@@ -79,7 +84,7 @@ attitude_estimator_q start
 local_position_estimator start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+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
diff --git a/posix-configs/SITL/init/lpe/iris_rplidar b/posix-configs/SITL/init/lpe/iris_rplidar
index 36cbc6034e..e4ad8aa753 100644
--- a/posix-configs/SITL/init/lpe/iris_rplidar
+++ b/posix-configs/SITL/init/lpe/iris_rplidar
@@ -1,3 +1,8 @@
+#!/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
@@ -37,7 +42,6 @@ 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_HOLD_XY_DZ 0.1
 param set MPC_Z_VEL_P 0.6
 param set MPC_Z_VEL_I 0.15
 param set LPE_FUSION 242
@@ -61,7 +65,7 @@ attitude_estimator_q start
 local_position_estimator start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+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
diff --git a/posix-configs/SITL/init/lpe/plane b/posix-configs/SITL/init/lpe/plane
index 88c8da9990..f4607dfdb4 100644
--- a/posix-configs/SITL/init/lpe/plane
+++ b/posix-configs/SITL/init/lpe/plane
@@ -1,3 +1,8 @@
+#!/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
@@ -66,7 +71,7 @@ local_position_estimator start
 fw_pos_control_l1 start
 fw_att_control start
 land_detector start fixedwing
-mixer load /dev/pwm_output0 ROMFS/sitl/mixers/plane_sitl.main.mix
+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
diff --git a/posix-configs/SITL/init/lpe/rover b/posix-configs/SITL/init/lpe/rover
index c17b06d9cf..2ffda54f8c 100644
--- a/posix-configs/SITL/init/lpe/rover
+++ b/posix-configs/SITL/init/lpe/rover
@@ -1,3 +1,8 @@
+#!/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
@@ -61,7 +66,7 @@ navigator start
 ekf2 start
 gnd_pos_control start
 gnd_att_control start
-mixer load /dev/pwm_output0 ROMFS/sitl/mixers/rover_sitl.main.mix
+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
diff --git a/posix-configs/SITL/init/lpe/solo b/posix-configs/SITL/init/lpe/solo
index 54400fe78d..062403e006 100644
--- a/posix-configs/SITL/init/lpe/solo
+++ b/posix-configs/SITL/init/lpe/solo
@@ -1,3 +1,8 @@
+#!/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
@@ -61,7 +66,7 @@ attitude_estimator_q start
 local_position_estimator start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
+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
diff --git a/posix-configs/SITL/init/lpe/standard_vtol b/posix-configs/SITL/init/lpe/standard_vtol
index b702e34a83..e3da0982be 100644
--- a/posix-configs/SITL/init/lpe/standard_vtol
+++ b/posix-configs/SITL/init/lpe/standard_vtol
@@ -1,3 +1,8 @@
+#!/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
@@ -74,7 +79,7 @@ mc_pos_control start
 mc_att_control start
 fw_pos_control_l1 start
 fw_att_control start
-mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
+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
diff --git a/posix-configs/SITL/init/lpe/typhoon_h480 b/posix-configs/SITL/init/lpe/typhoon_h480
index fcfba46226..f3ef8d18a7 100644
--- a/posix-configs/SITL/init/lpe/typhoon_h480
+++ b/posix-configs/SITL/init/lpe/typhoon_h480
@@ -1,3 +1,8 @@
+#!/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
@@ -58,8 +63,8 @@ attitude_estimator_q start
 local_position_estimator start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix
-mixer append /dev/pwm_output0 ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
+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
diff --git a/posix-configs/SITL/init/rcS_gazebo_delta_wing b/posix-configs/SITL/init/rcS_gazebo_delta_wing
deleted file mode 100644
index 88f8e11c7a..0000000000
--- a/posix-configs/SITL/init/rcS_gazebo_delta_wing
+++ /dev/null
@@ -1,59 +0,0 @@
-uorb start
-param load
-param set MAV_TYPE 1
-param set SYS_AUTOSTART 3033
-param set SYS_RESTART_TYPE 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 8
-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 FW_THR_IDLE 0.6
-param set FS_GCS_ENABLE 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
-mixer load /dev/pwm_output0 ../../../../ROMFS/sitl/mixers/delta_wing_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/rcS_tests b/posix-configs/SITL/init/rcS_tests
deleted file mode 100644
index 4bb1cd3f4f..0000000000
--- a/posix-configs/SITL/init/rcS_tests
+++ /dev/null
@@ -1,21 +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 SYS_RESTART_TYPE 0
-
-dataman start
-
-rgbledsim start
-tone_alarm start
-
-ver all
-
-tests all
-
-shutdown
diff --git a/posix-configs/SITL/init/shell/iris b/posix-configs/SITL/init/shell/iris
index 7f647f0671..37cb318959 100644
--- a/posix-configs/SITL/init/shell/iris
+++ b/posix-configs/SITL/init/shell/iris
@@ -1,3 +1,8 @@
+#!/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
diff --git a/posix-configs/SITL/init/test/cmd_template.in b/posix-configs/SITL/init/test/cmd_template.in
index c142ed6c1a..54531e117e 100644
--- a/posix-configs/SITL/init/test/cmd_template.in
+++ b/posix-configs/SITL/init/test/cmd_template.in
@@ -1,3 +1,8 @@
+#!/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
diff --git a/posix-configs/SITL/init/test/tests_all b/posix-configs/SITL/init/test/tests_all
index b771e84f28..2ea95eefd6 100644
--- a/posix-configs/SITL/init/test/tests_all
+++ b/posix-configs/SITL/init/test/tests_all
@@ -1,3 +1,8 @@
+#!/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
diff --git a/posix-configs/SITL/init/test/tests_template.in b/posix-configs/SITL/init/test/tests_template.in
index 78319f5cbc..c121b2c061 100644
--- a/posix-configs/SITL/init/test/tests_template.in
+++ b/posix-configs/SITL/init/test/tests_template.in
@@ -1,3 +1,8 @@
+#!/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