diff --git a/.gitattributes b/.gitattributes
index 353fdfa9b6..d5ff4edd8a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -21,7 +21,6 @@
 
 # PX4 mixers, msgs, etc
 *.bin    binary
-*.mix    text eol=lf
 *.msg    text eol=lf
 *.config text eol=lf
 *.sdf    text eol=lf
diff --git a/Makefile b/Makefile
index 007d56c2ff..5d5943dde7 100644
--- a/Makefile
+++ b/Makefile
@@ -322,6 +322,7 @@ px4io_update:
 	# px4_io-v2_default
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin
diff --git a/ROMFS/px4fmu_common/CMakeLists.txt b/ROMFS/px4fmu_common/CMakeLists.txt
index 235b6c9ae9..281e5a87a0 100644
--- a/ROMFS/px4fmu_common/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/CMakeLists.txt
@@ -32,7 +32,6 @@
 ############################################################################
 
 add_subdirectory(init.d)
-add_subdirectory(mixers)
 # TODO: make this configurable from the board config, or better combine
 if("${PX4_BOARD}" MATCHES "sitl")
 	add_subdirectory(init.d-posix)
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4001_x500 b/ROMFS/px4fmu_common/init.d-posix/airframes/4001_x500
index d58561cb2d..e7d33ca535 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4001_x500
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4001_x500
@@ -11,8 +11,6 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
 PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
 
-param set-default SYS_CTRL_ALLOC 1
-
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4
 
diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index e57de6f01f..d800a298e4 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -23,16 +23,6 @@ then
 fi
 
 # initialize script variables
-set IO_PRESENT                  no
-set MIXER                       skip
-set MIXER_AUX                   none
-set MIXER_FILE                  none
-set OUTPUT_MODE                 sim
-set EXTRA_MIXER_MODE            none
-set PWM_OUT                     none
-set PWM_AUX_OUT                 none
-set SDCARD_MIXERS_PATH          etc/mixers
-set USE_IO                      no
 set VEHICLE_TYPE                none
 set LOGGER_ARGS                 ""
 set LOGGER_BUF                  1000
@@ -227,10 +217,14 @@ manual_control start
 sensors start
 commander start
 
-# Configure vehicle type specific parameters.
-# Note: rc.vehicle_setup is the entry point for rc.interface,
-#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+if ! pwm_out_sim start -m sim
+then
+	tune_control play error
+fi
+
 #
+# Configure vehicle type specific parameters.
+# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
 . ${R}etc/init.d/rc.vehicle_setup
 
 navigator start
diff --git a/ROMFS/px4fmu_common/init.d/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/CMakeLists.txt
index 81f99fcb65..05ec84d3ef 100644
--- a/ROMFS/px4fmu_common/init.d/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d/CMakeLists.txt
@@ -42,7 +42,6 @@ px4_add_romfs_files(
 	rc.fw_apps
 	rc.fw_defaults
 	rc.heli_defaults
-	rc.interface
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
index 69aac5a526..84f0755985 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
+++ b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
@@ -42,8 +42,6 @@ param set-default MC_YAW_P 4
 param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_TILT_MAX 60
 
-param set-default DSHOT_CONFIG 600
-
 param set-default SYS_HAS_BARO 0
 param set-default SYS_HAS_MAG 0
 
diff --git a/ROMFS/px4fmu_common/init.d/rc.airship_apps b/ROMFS/px4fmu_common/init.d/rc.airship_apps
index 4031bd4f71..837a3a2161 100644
--- a/ROMFS/px4fmu_common/init.d/rc.airship_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.airship_apps
@@ -48,13 +48,10 @@ fi
 #                        End Estimator Group Selection                        #
 ###############################################################################
 
-if param compare SYS_CTRL_ALLOC 1
-then
-	#
-	# Start Control Allocator
-	#
-	control_allocator start
-fi
+#
+# Start Control Allocator
+#
+control_allocator start
 
 #
 # Start Airship Attitude Controller.
diff --git a/ROMFS/px4fmu_common/init.d/rc.airship_defaults b/ROMFS/px4fmu_common/init.d/rc.airship_defaults
index 8c51643915..2b25850467 100644
--- a/ROMFS/px4fmu_common/init.d/rc.airship_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.airship_defaults
@@ -9,9 +9,3 @@ set VEHICLE_TYPE airship
 
 # MAV_TYPE_AIRSHIP 7
 param set-default MAV_TYPE 7
-
-#
-# This is the gimbal pass mixer.
-#
-set MIXER_AUX pass
-set PWM_AUX_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart_ext b/ROMFS/px4fmu_common/init.d/rc.autostart_ext
index 7f7916c7f9..4291a3db37 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart_ext
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart_ext
@@ -2,7 +2,6 @@
 #
 # External airframe startup script (on SD card)
 #
-set SDCARD_MIXERS_PATH ${SDCARD_EXT_PATH}/mixers
 
 if [ -e ${SDCARD_EXT_PATH}/rc.autostart ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/rc.boat_defaults b/ROMFS/px4fmu_common/init.d/rc.boat_defaults
index a281b8395e..93c8820883 100644
--- a/ROMFS/px4fmu_common/init.d/rc.boat_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.boat_defaults
@@ -20,22 +20,3 @@ param set-default NAV_ACC_RAD 2
 
 # Temporary.
 param set-default NAV_FW_ALT_RAD 1000
-
-#
-# Enable servo output on pins 3 and 4 (steering and thrust)
-# but also include 1+2 as they form together one output group
-# and need to be set together.
-#
-set PWM_OUT 1234
-
-#
-# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
-# may damage analog servos.
-#
-set PWM_MAIN_RATE 50
-
-#
-# This is the gimbal pass mixer.
-#
-set MIXER_AUX pass
-set PWM_AUX_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_apps b/ROMFS/px4fmu_common/init.d/rc.fw_apps
index acc0fb27c5..2e2550884a 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps
@@ -10,13 +10,10 @@
 #
 ekf2 start &
 
-if param compare SYS_CTRL_ALLOC 1
-then
-	#
-	# Start Control Allocator
-	#
-	control_allocator start
-fi
+#
+# Start Control Allocator
+#
+control_allocator start
 
 #
 # Start attitude controller.
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index 6cae25306e..6f5d9cdf6a 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -52,11 +52,3 @@ param set-default PWM_MAIN_RATE 50
 # FW takeoff acceleration can easily exceed ublox GPS 2G default.
 #
 param set-default GPS_UBX_DYNMODEL 8
-
-#
-# This is the gimbal pass mixer.
-#
-set MIXER_AUX pass
-
-set PWM_AUX_RATE 50
-set PWM_AUX_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
deleted file mode 100644
index fee6ad252c..0000000000
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ /dev/null
@@ -1,284 +0,0 @@
-#!/bin/sh
-#
-# Script to configure control interfaces.
-#
-#
-# NOTE: environment variable references:
-#  If the dollar sign ('$') is followed by a left bracket ('{') then the
-#  variable name is terminated with the right bracket character ('}').
-#  Otherwise, the variable name goes to the end of the argument.
-#
-
-set OUTPUT_CMD pwm_out
-set MIXER_AUX_FILE none
-set MIXER_EXTRA_FILE none
-
-set OUTPUT_DEV none
-set OUTPUT_AUX_DEV /dev/pwm_output1
-set OUTPUT_EXTRA_DEV /dev/pwm_output0
-
-# set these before starting the modules
-if [ $PWM_AUX_OUT != none ]
-then
-
-	param set PWM_AUX_OUT ${PWM_AUX_OUT}
-fi
-
-
-if [ $PWM_OUT != none ]
-then
-	param set PWM_MAIN_OUT ${PWM_OUT}
-fi
-
-#
-# If mount (gimbal) control is enabled and output mode is AUX, set the aux
-# mixer to mount (override the airframe-specific MIXER_AUX setting).
-#
-if param greater -s MNT_MODE_IN -1
-then
-        if param compare -s MNT_MODE_OUT 0
-        then
-                set MIXER_AUX mount
-        fi
-fi
-
-#
-# Set the default output mode if none was set.
-#
-if [ $OUTPUT_MODE = none -a $OUTPUT_MODE != skip ]
-then
-	if [ $USE_IO = yes ]
-	then
-		# Enable IO output only if IO is present.
-		if [ $IO_PRESENT = yes ]
-		then
-			set OUTPUT_MODE io
-			if param greater -s DSHOT_CONFIG 0
-			then
-				set OUTPUT_CMD dshot
-			fi
-		fi
-	else
-		if param greater -s DSHOT_CONFIG 0
-		then
-			set OUTPUT_MODE dshot
-			set OUTPUT_CMD dshot
-		else
-			set OUTPUT_MODE pwm_out
-		fi
-	fi
-fi
-
-#
-# If OUTPUT_MODE = none then something is wrong with setup and we shouldn't try to enable output.
-#
-if [ $OUTPUT_MODE != none -a $OUTPUT_MODE != skip ]
-then
-
-	if [ $OUTPUT_MODE = hil -o $OUTPUT_MODE = sim ]
-	then
-		if ! pwm_out_sim start -m $OUTPUT_MODE
-		then
-			tune_control play error
-		fi
-	fi
-
-	if [ $OUTPUT_MODE = uavcan_esc ]
-	then
-		if param compare UAVCAN_ENABLE 0
-		then
-			param set UAVCAN_ENABLE 3
-		fi
-	fi
-
-	#
-	# Start IO for PWM output or RC input if needed.
-	#
-	if [ $IO_PRESENT = yes ]
-	then
-		if ! px4io start
-		then
-			echo "PX4IO start failed"
-			tune_control play -t 18 # PROG_PX4IO_ERR
-		fi
-	fi
-
-	if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
-	then
-		if param compare SYS_CTRL_ALLOC 1
-		then
-			pwm_out start
-			dshot start
-		else
-			if ! $OUTPUT_CMD start
-			then
-				echo "$OUTPUT_CMD start failed"
-				tune_control play error
-			fi
-		fi
-	fi
-fi
-
-if [ $MIXER != none -a $MIXER != skip ]
-then
-	#
-	# Load main mixer.
-	#
-	if [ $MIXER_AUX = none -a $USE_IO = yes ]
-	then
-		set MIXER_AUX ${MIXER}
-	fi
-
-	if [ "$MIXER_FILE" = none ]
-	then
-		if [ -f ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix ]
-		then
-			# Use the mixer file from the SD-card if it exists.
-			set MIXER_FILE ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix
-		else
-			# Try out the old convention, for backward compatibility.
-			if [ -f ${SDCARD_MIXERS_PATH}/${MIXER}.mix ]
-			then
-				set MIXER_FILE ${SDCARD_MIXERS_PATH}/${MIXER}.mix
-			else
-				set MIXER_FILE /etc/mixers/${MIXER}.main.mix
-			fi
-		fi
-	fi
-
-	set OUTPUT_DEV /dev/pwm_output0
-
-	if [ $OUTPUT_MODE = uavcan_esc ]
-	then
-		set OUTPUT_DEV /dev/uavcan/esc
-	fi
-
-	if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
-	then
-		echo "INFO  [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
-
-	else
-		echo "ERROR  [init] Failed loading mixer: ${MIXER_FILE}"
-		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
-	fi
-
-else
-	if [ $MIXER != skip ]
-	then
-		echo "ERROR  [init] Mixer undefined"
-		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
-	fi
-fi
-
-if [ $MIXER_AUX != none ]
-then
-	#
-	# Load aux mixer.
-	#
-	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
-	then
-		set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
-	else
-
-		if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
-		then
-			set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
-		fi
-	fi
-
-	if [ $MIXER_AUX_FILE != none ]
-	then
-		# Append aux mixer to main device.
-		if param greater SYS_HITL 0
-		then
-			if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
-			then
-				echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
-			else
-				echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}"
-			fi
-		fi
-		if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
-		then
-			if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
-			then
-				echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
-			else
-				echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
-			fi
-		else
-			echo "INFO  [init] setting PWM_AUX_OUT none"
-			set PWM_AUX_OUT none
-		fi
-
-		# for DShot do not configure pwm values
-		if [ $OUTPUT_CMD != dshot ]
-		then
-			# Set min / max for aux out and rates.
-			if [ $PWM_AUX_OUT != none ]
-			then
-				# Set PWM_AUX output frequency.
-				if [ $PWM_AUX_RATE != none ]
-				then
-					pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
-				fi
-			fi
-		fi
-	fi
-fi
-
-if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
-then
-	if [ $PWM_OUT != none -a $PWM_MAIN_RATE != none ]
-	then
-		# Set PWM output frequency.
-		if ! param compare SYS_CTRL_ALLOC 1
-		then
-			pwm rate -c ${PWM_OUT} -r ${PWM_MAIN_RATE}
-		fi
-	fi
-fi
-
-if [ $EXTRA_MIXER_MODE != none ]
-then
-
-	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix ]
-	then
-		# Use the mixer file from the SD-card if it exists.
-		set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix
-	else
-		# Try out the old convention, for backward compatibility.
-		if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix ]
-		then
-			set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix
-		else
-			set MIXER_EXTRA_FILE /etc/mixers/${MIXER_EXTRA}.aux.mix
-		fi
-	fi
-
-
-	if mixer load ${OUTPUT_EXTRA_DEV} ${MIXER_EXTRA_FILE}
-	then
-		echo "INFO  [init] Mixer: ${MIXER_EXTRA_FILE} on ${OUTPUT_EXTRA_DEV}"
-	else
-		echo "ERROR  [init] Failed loading mixer: ${MIXER_EXTRA_FILE}"
-		tune_control play -t 20
-	fi
-
-	if [ $PWM_EXTRA_OUT != none ]
-	then
-		# Set PWM output frequency.
-		if [ $PWM_EXTRA_RATE != none ]
-		then
-			pwm rate -c ${PWM_EXTRA_OUT} -r ${PWM_EXTRA_RATE}
-		fi
-	fi
-fi
-
-unset OUTPUT_CMD
-unset MIXER_AUX_FILE
-unset MIXER_EXTRA_FILE
-
-unset OUTPUT_DEV
-unset OUTPUT_AUX_DEV
-unset OUTPUT_EXTRA_DEV
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps
index 60d9e65327..8158ab8b03 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps
@@ -48,13 +48,10 @@ fi
 #                        End Estimator Group Selection                        #
 ###############################################################################
 
-if param compare SYS_CTRL_ALLOC 1
-then
-	#
-	# Start Control Allocator
-	#
-	control_allocator start
-fi
+#
+# Start Control Allocator
+#
+control_allocator start
 
 #
 # Start Multicopter Rate Controller.
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
index d057bf3050..25861aae45 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -25,14 +25,3 @@ param set-default PWM_MAIN_MIN 1075
 param set-default PWM_MAIN_RATE 400
 
 param set-default GPS_UBX_DYNMODEL 6
-
-#
-# This is the gimbal pass mixer.
-#
-set MIXER_AUX pass
-
-set MIXER quad_x
-
-set PWM_OUT 1234
-
-set PWM_AUX_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_apps b/ROMFS/px4fmu_common/init.d/rc.rover_apps
index d1e389627e..4d04b53faa 100644
--- a/ROMFS/px4fmu_common/init.d/rc.rover_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.rover_apps
@@ -12,13 +12,10 @@ ekf2 start &
 #attitude_estimator_q start
 #local_position_estimator start
 
-if param compare SYS_CTRL_ALLOC 1
-then
-	#
-	# Start Control Allocator
-	#
-	control_allocator start
-fi
+#
+# Start Control Allocator
+#
+control_allocator start
 
 #
 # Start attitude controllers.
diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_defaults b/ROMFS/px4fmu_common/init.d/rc.rover_defaults
index d7e826c49c..cab52039d4 100644
--- a/ROMFS/px4fmu_common/init.d/rc.rover_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.rover_defaults
@@ -21,22 +21,3 @@ param set-default NAV_LOITER_RAD 2
 
 # Temporary.
 param set-default NAV_FW_ALT_RAD 1000
-
-#
-# Enable servo output on pins 3 and 4 (steering and thrust)
-# but also include 1+2 as they form together one output group
-# and need to be set together.
-#
-set PWM_OUT 1234
-
-#
-# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
-# may damage analog servos.
-#
-set PWM_MAIN_RATE 50
-
-#
-# This is the gimbal pass mixer.
-#
-set MIXER_AUX pass
-set PWM_AUX_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/rc.uuv_apps b/ROMFS/px4fmu_common/init.d/rc.uuv_apps
index 1855805fc2..d2eb13208c 100644
--- a/ROMFS/px4fmu_common/init.d/rc.uuv_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.uuv_apps
@@ -15,13 +15,10 @@ ekf2 start &
 #                        End Estimator Group Selection                        #
 ###############################################################################
 
-if param compare SYS_CTRL_ALLOC 1
-then
-	#
-	# Start Control Allocator
-	#
-	control_allocator start
-fi
+#
+# Start Control Allocator
+#
+control_allocator start
 
 #
 # Start UUV Attitude Controller.
diff --git a/ROMFS/px4fmu_common/init.d/rc.uuv_defaults b/ROMFS/px4fmu_common/init.d/rc.uuv_defaults
index 01e755fc29..bb28c26222 100644
--- a/ROMFS/px4fmu_common/init.d/rc.uuv_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.uuv_defaults
@@ -13,20 +13,3 @@ param set-default MAV_TYPE 12
 param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_MIN 1050
 param set-default PWM_MAIN_DISARM 1500
-
-#
-# PWM Hz - 50 Hz is the normal rate in RC cars, boats etc,
-# higher rates may damage analog servos.
-#
-set PWM_MAIN_RATE 50
-
-#
-# Enable servo output on pins 1-4
-set PWM_OUT 1234
-
-#
-# This is the gimbal pass mixer.
-#
-set MIXER_AUX pass
-set PWM_AUX_OUT 1234
-set PWM_AUX_RATE 50
diff --git a/ROMFS/px4fmu_common/init.d/rc.vehicle_setup b/ROMFS/px4fmu_common/init.d/rc.vehicle_setup
index aac1b76fed..4f8497bc19 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vehicle_setup
+++ b/ROMFS/px4fmu_common/init.d/rc.vehicle_setup
@@ -10,14 +10,6 @@
 #
 if [ $VEHICLE_TYPE = fw ]
 then
-	if [ $MIXER = none ]
-	then
-		echo "FW mixer undefined"
-	fi
-
-	# Load mixer and configure outputs.
-	. ${R}etc/init.d/rc.interface
-
 	# Start standard fixedwing apps.
 	. ${R}etc/init.d/rc.fw_apps
 fi
@@ -27,14 +19,6 @@ fi
 #
 if [ $VEHICLE_TYPE = mc ]
 then
-	if [ $MIXER = none ]
-	then
-		echo "MC mixer undefined"
-	fi
-
-	# Load mixer and configure outputs.
-	. ${R}etc/init.d/rc.interface
-
 	# Start standard multicopter apps.
 	. ${R}etc/init.d/rc.mc_apps
 fi
@@ -44,14 +28,6 @@ fi
 #
 if [ $VEHICLE_TYPE = rover ]
 then
-	if [ $MIXER = none ]
-	then
-		echo "rover mixer undefined"
-	fi
-
-	# Load mixer and configure outputs.
-	. ${R}etc/init.d/rc.interface
-
 	# Start standard UGV apps.
 	. ${R}etc/init.d/rc.rover_apps
 fi
@@ -61,14 +37,6 @@ fi
 #
 if [ $VEHICLE_TYPE = vtol ]
 then
-	if [ $MIXER = none ]
-	then
-		echo "VTOL mixer undefined"
-	fi
-
-	# Load mixer and configure outputs.
-	. ${R}etc/init.d/rc.interface
-
 	# Start standard vtol apps.
 	. ${R}etc/init.d/rc.vtol_apps
 fi
@@ -78,14 +46,6 @@ fi
 #
 if [ $VEHICLE_TYPE = airship ]
 then
-	if [ $MIXER = none ]
-	then
-		echo "Airship mixer undefined"
-	fi
-
-	# Load mixer and configure outputs.
-	. ${R}etc/init.d/rc.interface
-
 	# Start airship apps.
 	. ${R}etc/init.d/rc.airship_apps
 fi
@@ -95,14 +55,6 @@ fi
 #
 if [ $VEHICLE_TYPE = uuv ]
 then
-	if [ $MIXER = none ]
-	then
-		echo "UUV mixer undefined"
-	fi
-
-	# Load mixer and configure outputs.
-	. ${R}etc/init.d/rc.interface
-
 	# Start standard vtol apps.
 	. ${R}etc/init.d/rc.uuv_apps
 fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_apps b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
index afcf32f45a..0bb53168d1 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
@@ -15,13 +15,10 @@ ekf2 start &
 #                        End Estimator group selection                        #
 ###############################################################################
 
-if param compare SYS_CTRL_ALLOC 1
-then
-	#
-	# Start Control Allocator
-	#
-	control_allocator start
-fi
+#
+# Start Control Allocator
+#
+control_allocator start
 
 airspeed_selector start
 
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 00c52d07a1..94a639d0ac 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -25,29 +25,14 @@ set FCONFIG /fs/microsd/etc/config.txt
 set FEXTRAS /fs/microsd/etc/extras.txt
 set FRC /fs/microsd/etc/rc.txt
 set IOFW "/etc/extras/px4_io-v2_default.bin"
-set IO_PRESENT no
 set LOGGER_ARGS ""
 set LOGGER_BUF 8
-set MIXER skip
-set MIXER_AUX none
-set MIXER_FILE none
-set MIXER_EXTRA none
-set OUTPUT_MODE none
 set PARAM_FILE ""
-set PWM_OUT none
-set PWM_MAIN_RATE p:PWM_MAIN_RATE
-set PWM_AUX_OUT none
-set PWM_AUX_RATE p:PWM_AUX_RATE
-set PWM_EXTRA_OUT none
-set PWM_EXTRA_RATE p:PWM_EXTRA_RATE
-set EXTRA_MIXER_MODE none
 set RC_INPUT_ARGS ""
 set SDCARD_AVAILABLE no
 set SDCARD_EXT_PATH /fs/microsd/ext_autostart
 set SDCARD_FORMAT no
-set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
 set STARTUP_TUNE 1
-set USE_IO no
 set VEHICLE_TYPE none
 
 #
@@ -236,7 +221,7 @@ else
 	# Waypoint storage.
 	# REBOOTWORK this needs to start in parallel.
 	#
-	if param compare SYS_DM_BACKEND 1
+	if param compare -s SYS_DM_BACKEND 1
 	then
 		dataman start -r
 	else
@@ -278,13 +263,8 @@ else
 	if param greater -s UAVCAN_ENABLE 0
 	then
 		# Start core UAVCAN module.
-		if uavcan start
+		if ! uavcan start
 		then
-			if param greater UAVCAN_ENABLE 2
-			then
-				set OUTPUT_MODE uavcan_esc
-			fi
-		else
 			tune_control play error
 		fi
 	else
@@ -295,22 +275,15 @@ else
 	fi
 
 	#
-	# Check if PX4IO present and update firmware if needed.
-	# Assumption IOFW set to firmware file and IO_PRESENT = no
+	# Start IO for PWM output or RC input if enabled
 	#
-
-	if [ -f $IOFW ]
+	if param compare -s SYS_USE_IO 1
 	then
-		# Check for the mini using build with px4io fw file
-		# but not a px4IO
-		if ver hwtypecmp V5004000 V5006000
+		# Check if PX4IO present and update firmware if needed.
+		if [ -f $IOFW ]
 		then
-			param set SYS_USE_IO 0
-		else
-			if px4io checkcrc ${IOFW}
+			if ! px4io checkcrc ${IOFW}
 			then
-				set IO_PRESENT yes
-			else
 				# tune Program PX4IO
 				tune_control play -t 16 # tune 16 = PROG_PX4IO
 
@@ -321,7 +294,6 @@ else
 					if px4io checkcrc ${IOFW}
 					then
 						tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
-						set IO_PRESENT yes
 					else
 						tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 					fi
@@ -330,20 +302,12 @@ else
 				fi
 			fi
 		fi
-	fi
 
-	#
-	# Set USE_IO flag.
-	#
-	if param compare -s SYS_USE_IO 1
-	then
-		set USE_IO yes
-	fi
-
-	if [ $USE_IO = yes -a $IO_PRESENT = no ]
-	then
-		echo "PX4IO not found"
-		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+		if ! px4io start
+		then
+			echo "PX4IO start failed"
+			set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+		fi
 	fi
 
 	#
@@ -359,7 +323,11 @@ else
 	#
 	if param greater SYS_HITL 0
 	then
-		set OUTPUT_MODE hil
+		if ! pwm_out_sim start -m hil
+		then
+			tune_control play error
+		fi
+
 		sensors start -h
 		commander start -h
 		# disable GPS
@@ -397,13 +365,14 @@ else
 
 		sensors start
 		commander start
+
+		dshot start
+		pwm_out start
 	fi
 
 	#
 	# Configure vehicle type specific parameters.
-	# Note: rc.vehicle_setup is the entry point for rc.interface,
-	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-	#
+	# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
 	. ${R}etc/init.d/rc.vehicle_setup
 
 	# Pre-takeoff continuous magnetometer calibration
@@ -435,11 +404,8 @@ else
 	#
 	. ${R}etc/init.d/rc.serial
 
-	if [ $IO_PRESENT = no ]
-	then
-		# Must be started after the serial config is read
-		rc_input start $RC_INPUT_ARGS
-	fi
+	# Must be started after the serial config is read
+	rc_input start $RC_INPUT_ARGS
 
 	# PPS capture driver (before pwm_out)
 	if param greater -s PPS_CAP_ENABLE 0
@@ -564,28 +530,15 @@ unset R
 unset FCONFIG
 unset FEXTRAS
 unset FRC
-unset IO_PRESENT
 unset IOFW
 unset LOGGER_ARGS
 unset LOGGER_BUF
-unset MIXER
-unset MIXER_AUX
-unset MIXER_FILE
-unset OUTPUT_MODE
 unset PARAM_FILE
-unset PWM_AUX_OUT
-unset PWM_AUX_RATE
-unset PWM_MAIN_RATE
-unset PWM_OUT
-unset PWM_EXTRA_OUT
-unset PWM_EXTRA_RATE
 unset RC_INPUT_ARGS
 unset SDCARD_AVAILABLE
 unset SDCARD_EXT_PATH
 unset SDCARD_FORMAT
-unset SDCARD_MIXERS_PATH
 unset STARTUP_TUNE
-unset USE_IO
 unset VEHICLE_TYPE
 
 #
diff --git a/ROMFS/px4fmu_common/mixers/AAERTWF.main.mix b/ROMFS/px4fmu_common/mixers/AAERTWF.main.mix
deleted file mode 100644
index 20d4c21d93..0000000000
--- a/ROMFS/px4fmu_common/mixers/AAERTWF.main.mix
+++ /dev/null
@@ -1,88 +0,0 @@
-# @board px4_fmu-v2 exclude
-Aileron/rudder/elevator/throttle/wheel/flaps mixer for PX4FMU
-=======================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, rudder, elevator, throttle and steerable wheel controls using PX4FMU.
-The configuration assumes the aileron servo(s) are connected to PX4FMU servo
-output 0 and 1, the elevator to output 2, the rudder to output 3, the throttle
-to output 4 and the wheel to output 5.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
-
-Aileron mixer (roll + spoiler)
----------------------------------
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 2
-S: 0 0  10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 2
-S: 0 0  10000  10000      0 -10000  10000
-S: 0 5 -10000 -10000      0 -10000  10000
-
-Elevator mixer
-------------
-Two scalers total (output, roll).
-
-This mixer assumes that the elevator servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 1  -10000  -10000      0 -10000  10000
-
-Rudder mixer
-------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the rudder servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 2  10000  10000      0 -10000  10000
-
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
-
-Wheel mixer
-------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the wheel servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 2  10000  10000      0 -10000  10000
-
-
-Flaps / gimbal / payload mixer for last three channels,
-using the payload control group
------------------------------------------------------
-
-M: 1
-S: 0 4  10000  10000      0 -10000  10000
-
-M: 1
-S: 2 0  10000  10000      0 -10000  10000
-
-M: 1
-S: 2 2  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/AAVVTWFF.main.mix b/ROMFS/px4fmu_common/mixers/AAVVTWFF.main.mix
deleted file mode 100644
index 9a994da0ef..0000000000
--- a/ROMFS/px4fmu_common/mixers/AAVVTWFF.main.mix
+++ /dev/null
@@ -1,77 +0,0 @@
-# @board px4_fmu-v2 exclude
-Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
-=======================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps
-using PX4FMU.
-The configuration assumes the aileron servos are connected to PX4FMU servo
-output 0 and 1, the tail servos to output 2 and 3, the throttle
-to output 4, the wheel to output 5 and the flaps to output 6 and 7.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
-
-Aileron mixer (roll + spoiler)
----------------------------------
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 2
-S: 0 0  10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 2
-S: 0 0  10000  10000      0 -10000  10000
-S: 0 5 -10000 -10000      0 -10000  10000
-
-V-tail mixers
--------------
-Three scalers total (output, roll, pitch).
-
-On the assumption that the two tail servos are physically reversed, the pitch
-input is inverted between the two servos.
-
-M: 2
-S: 0 2  -7000  -7000      0 -10000  10000
-S: 0 1  -8000  -8000      0 -10000  10000
-
-M: 2
-S: 0 2  -7000  -7000      0 -10000  10000
-S: 0 1   8000   8000      0 -10000  10000
-
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
-
-Wheel mixer
-------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the wheel servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 2 -10000 -10000      0 -10000  10000
-
-Flaps mixer
-------------
-Flap servos are physically reversed.
-
-M: 1
-S: 0 4      0   5000 -10000 -10000  10000
-
-M: 1
-S: 0 4      0  -5000  10000 -10000  10000
-
diff --git a/ROMFS/px4fmu_common/mixers/AAVVTWFF_vtail.main.mix b/ROMFS/px4fmu_common/mixers/AAVVTWFF_vtail.main.mix
deleted file mode 100644
index ad65ca999c..0000000000
--- a/ROMFS/px4fmu_common/mixers/AAVVTWFF_vtail.main.mix
+++ /dev/null
@@ -1,71 +0,0 @@
-# @board px4_fmu-v2 exclude
-Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
-=======================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps
-using PX4FMU.
-The configuration assumes the aileron servos are connected to PX4FMU servo
-output 0 and 1, the tail servos to output 2 and 3, the throttle
-to output 4, the wheel to output 5 and the flaps to output 6 and 7.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw), 3 (thrust) 4 (flaps), 5 (spoiler).
-
-Aileron mixer (roll + spoiler)
----------------------------------
-
-This mixer assumes that the aileron servos are set up mechanically reversed.
-
-M: 2
-S: 0 0 -10000 -10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 2
-S: 0 0 -10000 -10000      0 -10000  10000
-S: 0 5 -10000 -10000      0 -10000  10000
-
-V-tail mixers
--------------
-Three scalers total (output, roll, pitch).
-
-M: 2
-S: 0 2   7000   7000      0 -10000  10000
-S: 0 1  -8000  -8000      0 -10000  10000
-
-M: 2
-S: 0 2   7000   7000      0 -10000  10000
-S: 0 1   8000   8000      0 -10000  10000
-
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
-
-Wheel mixer
-------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the wheel servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 2 -10000 -10000      0 -10000  10000
-
-Flaps mixer
-------------
-Flap servos are physically reversed.
-
-M: 1
-S: 0 4      0   5000 -10000 -10000  10000
-
-M: 1
-S: 0 4      0  -5000  10000 -10000  10000
-
diff --git a/ROMFS/px4fmu_common/mixers/AERT.main.mix b/ROMFS/px4fmu_common/mixers/AERT.main.mix
deleted file mode 100644
index 356ff613ae..0000000000
--- a/ROMFS/px4fmu_common/mixers/AERT.main.mix
+++ /dev/null
@@ -1,77 +0,0 @@
-# @board px4_fmu-v2 exclude
-Aileron/rudder/elevator/throttle mixer for PX4FMU
-==================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
-assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
-elevator to output 1, the rudder to output 2 and the throttle to output 3.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-CH1: Aileron mixer
--------------
-Two scalers total (output, roll).
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-As there is only one output, if using two servos adjustments to compensate for
-differences between the servos must be made mechanically.  To obtain the correct
-motion using a Y  cable, the servos can be positioned reversed from one another.
-
-M: 1
-S: 0 0  10000  10000      0 -10000  10000
-
-CH2: Elevator mixer
-------------
-Two scalers total (output, roll).
-
-This mixer assumes that the elevator servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 1  -10000  -10000      0 -10000  10000
-
-CH3: Rudder mixer
-------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the rudder servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 2  10000  10000      0 -10000  10000
-
-CH4: Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
-
-CH5: Flaps mixer
-------------
-Flaps are controlled automatically in position control and auto
-but can also be controlled manually
-
-M: 1
-O: 5000 10000 0 -10000 10000
-S: 0 4 10000 10000 0 -10000 10000
-
-Ch6: Landing gear mixer
-------------
-By default pass-through of gear switch
-
-M: 1
-S: 3 5 10000 10000 0 -10000 10000
diff --git a/ROMFS/px4fmu_common/mixers/AETRFG.main.mix b/ROMFS/px4fmu_common/mixers/AETRFG.main.mix
deleted file mode 100644
index d5cf84219b..0000000000
--- a/ROMFS/px4fmu_common/mixers/AETRFG.main.mix
+++ /dev/null
@@ -1,77 +0,0 @@
-# @board px4_fmu-v2 exclude
-Aileron/Elevator/Throttle/Rudder/Gear/Flaps mixer
-==================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, rudder, elevator, throttle, gear, flaps controls. The configuration
-assumes the aileron servo(s) are connected to output 0, the elevator to
-output 1, the throttle to output 2 and the rudder to output 3.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (thrust), 3 (yaw), 4 (flaps), 7 (landing gear)
-
-CH1: Aileron mixer
--------------
-Two scalers total (output, roll).
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-As there is only one output, if using two servos adjustments to compensate for
-differences between the servos must be made mechanically.  To obtain the correct
-motion using a Y  cable, the servos can be positioned reversed from one another.
-
-M: 1
-S: 0 0   10000   10000      0  -10000  10000
-
-CH2: Elevator mixer
-------------
-Two scalers total (output, roll).
-
-This mixer assumes that the elevator servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 1  -10000  -10000      0  -10000  10000
-
-CH3: Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-S: 0 3       0  20000  -10000  -10000  10000
-
-CH4: Rudder mixer
-------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the rudder servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 2   10000  10000       0  -10000  10000
-
-CH5: Flaps mixer
-------------
-Flaps are controlled automatically in position control and auto
-but can also be controlled manually
-
-M: 1
-O:        5000  10000       0  -10000  10000
-S: 0 4   10000  10000       0  -10000  10000
-
-CH6: Landing gear mixer
-------------
-By default pass-through of gear switch
-
-M: 1
-S: 3 5    10000 10000       0  -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/CCPM.main.mix b/ROMFS/px4fmu_common/mixers/CCPM.main.mix
deleted file mode 100644
index 8f7af5aee8..0000000000
--- a/ROMFS/px4fmu_common/mixers/CCPM.main.mix
+++ /dev/null
@@ -1,49 +0,0 @@
-# @board px4_fmu-v2 exclude
-Helicopter 120 degree Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
-==================================================
-
-
-Output 0 - Rear Servo Mixer
-----------------
-
-Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1)
-
-M: 2
-S: 0 3  10000  10000      0 -10000  10000
-S: 0 1  10000  10000      0 -10000  10000
-
-
-Output 1 - Left Servo Mixer
------------------
-Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + 0.866 * Aileron (Roll - 0)
-
-M: 3
-S: 0 3  -10000  -10000      0 -10000  10000
-S: 0 1   -5000   -5000      0 -10000  10000
-S: 0 0    8660    8660      0 -10000  10000
-
-
-Output 2 - Right Servo Mixer
-----------------
-Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - 0.866 * Aileron (Roll - 0)
-
-
-M: 3
-S: 0 3  -10000  -10000      0 -10000  10000
-S: 0 1   -5000   -5000      0 -10000  10000
-S: 0 0   -8660   -8660      0 -10000  10000
-
-Output 3 - Tail Servo Mixer
-----------------
-Tail Servo = Yaw (control index = 2)
-
-M: 1
-S: 0 2  10000  10000      0 -10000  10000
-
-
-Output 4 - Motor speed mixer
------------------
-This would be the motor speed control output from governor power demand- not sure what index to use here?
-
-M: 1
-S: 0 4      0  20000 -10000 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/CMakeLists.txt b/ROMFS/px4fmu_common/mixers/CMakeLists.txt
deleted file mode 100644
index 5e00c9f9ab..0000000000
--- a/ROMFS/px4fmu_common/mixers/CMakeLists.txt
+++ /dev/null
@@ -1,80 +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.
-#
-############################################################################
-
-px4_add_romfs_files(
-	AAERTWF.main.mix
-	AAVVTWFF.main.mix
-	AAVVTWFF_vtail.main.mix
-	AERT.main.mix
-	AETRFG.main.mix
-	CCPM.main.mix
-	cloudship.main.mix
-	coax.main.mix
-	dodeca_bottom_cox.aux.mix
-	dodeca_top_cox.main.mix
-	fw_generic_wing.main.mix
-	generic_diff_rover.main.mix
-	hexa_cox.main.mix
-	hexa_+.main.mix
-	hexa_x.main.mix
-	IO_pass.main.mix
-	mount.aux.mix
-	mount_legs.aux.mix
-	octo_cox.main.mix
-	octo_cox_w.main.mix
-	octo_+.main.mix
-	octo_x.main.mix
-	pass.aux.mix
-	quad_dc.main.mix
-	quad_h.main.mix
-	quad_+.main.mix
-	quad_+_vtol.main.mix
-	quad_w.main.mix
-	quad_x_cw.main.mix
-	quad_x.main.mix
-	quad_x_vtol.main.mix
-	quad_x_vtol_AAERT.main.mix
-	rover_diff_and_servo.main.mix
-	rover_generic.main.mix
-	standard_vtol_hitl.main.mix
-	tilt_quad.aux.mix
-	tilt_quad.main.mix
-	tri_y_yaw+.main.mix
-	tri_y_yaw-.main.mix
-	vtol_AAERT.aux.mix
-	vtol_AAVVT.aux.mix
-	vtol_TTTTAAER.aux.mix
-	vtol_delta.aux.mix
-	vtol_tailsitter_duo.main.mix
-	vtol_tailsitter_duo_sat.main.mix
-)
diff --git a/ROMFS/px4fmu_common/mixers/IO_pass.main.mix b/ROMFS/px4fmu_common/mixers/IO_pass.main.mix
deleted file mode 100644
index d18e1850e1..0000000000
--- a/ROMFS/px4fmu_common/mixers/IO_pass.main.mix
+++ /dev/null
@@ -1,31 +0,0 @@
-# @board px4_fmu-v2 exclude
-Passthrough mixer for PX4IO
-============================
-
-This file defines passthrough mixers suitable for testing.
-
-Channel group 0, channels 0-7 are passed directly through to the outputs.
-
-M: 1
-S: 0 0  10000  10000      0 -10000  10000
-
-M: 1
-S: 0 1  10000  10000      0 -10000  10000
-
-M: 1
-S: 0 2  10000  10000      0 -10000  10000
-
-M: 1
-S: 0 3  10000  10000      0 -10000  10000
-
-M: 1
-S: 0 4  10000  10000      0 -10000  10000
-
-M: 1
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 1
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 1
-S: 0 7  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/cloudship.main.mix b/ROMFS/px4fmu_common/mixers/cloudship.main.mix
deleted file mode 100644
index decee989ef..0000000000
--- a/ROMFS/px4fmu_common/mixers/cloudship.main.mix
+++ /dev/null
@@ -1,49 +0,0 @@
-Thrust tilt/ Starboard Thrust / Port Thrust / Tail Thrust mixer for PX4FMU
-=======================================================
-
-# @board px4_fmu-v2 exclude
-
-This file defines mixers suitable for controlling an airship with
-a thrust tilt, starboard and port thruster and a tail thruster using PX4FMU.
-The configuration assumes the starboard thruster is connected to PX4FMU
-output 1, port thruster to output 2, tilt servo to output 3, and the
-tail thruster to output 4.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude),
-channels 0 (roll), 1 (pitch), 2 (yaw) and 3 (thrust).
-
-Starboard and port thruster mixer
------------------
-Two scalers total (output, thrust).
-
-By default mixer output is normalized. The input is in the (0 - 1) range.
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
-
-Servo controlling tilt mixer
-------------
-Two scalers total (output, tilt angle).
-
-This mixer assumes that the tilt servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 1  10000  10000      0 -10000  10000
-
-Tail thruster mixer
-------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the tail thruster is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the motor movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 2  10000  10000   0      -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/coax.main.mix b/ROMFS/px4fmu_common/mixers/coax.main.mix
deleted file mode 100644
index 0a99547e20..0000000000
--- a/ROMFS/px4fmu_common/mixers/coax.main.mix
+++ /dev/null
@@ -1,30 +0,0 @@
-# @board px4_fmu-v2 exclude
-Coaxial helicopter mixer
-- Two servomotors act on the swashplate (90 degree angle on the swashplate, decoupled effect on roll and pitch).
-- No collective pitch.
-- One motor per rotor.
-===========================
-
-Left swashplate servomotor, pitch axis
--------------
-M: 1
-S: 0 1  -10000  -10000      0 -10000  10000
-
-Right swashplate servomotor, roll axis
--------------
-M: 1
-S: 0 0  10000  10000      0 -10000  10000
-
-Upper rotor (CCW)
-Mixing between yaw and thrust
--------------
-M: 2
-S: 0 2  10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
-
-Lower rotor (CW)
-Mixing between yaw and thrust
--------------
-M: 2
-S: 0 2  -10000  -10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/dodeca_bottom_cox.aux.mix b/ROMFS/px4fmu_common/mixers/dodeca_bottom_cox.aux.mix
deleted file mode 100644
index 8429e71cba..0000000000
--- a/ROMFS/px4fmu_common/mixers/dodeca_bottom_cox.aux.mix
+++ /dev/null
@@ -1,4 +0,0 @@
-# Dodeca Cox
-# @board px4_fmu-v2 exclude
-
-R: 6a
diff --git a/ROMFS/px4fmu_common/mixers/dodeca_top_cox.main.mix b/ROMFS/px4fmu_common/mixers/dodeca_top_cox.main.mix
deleted file mode 100644
index 6250c3db0a..0000000000
--- a/ROMFS/px4fmu_common/mixers/dodeca_top_cox.main.mix
+++ /dev/null
@@ -1,4 +0,0 @@
-# Dodeca Cox
-# @board px4_fmu-v2 exclude
-
-R: 6m
diff --git a/ROMFS/px4fmu_common/mixers/fw_generic_wing.main.mix b/ROMFS/px4fmu_common/mixers/fw_generic_wing.main.mix
deleted file mode 100644
index f947698d82..0000000000
--- a/ROMFS/px4fmu_common/mixers/fw_generic_wing.main.mix
+++ /dev/null
@@ -1,47 +0,0 @@
-# @board px4_fmu-v2 exclude
-Generic wing mixer
-===========================
-
-This file defines mixers suitable for controlling a delta wing aircraft.
-The configuration assumes the elevon servos are connected to servo
-outputs 0 and 1 and the motor speed control to output 3. Output 2 is
-assumed to be unused.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-See the README for more information on the scaler format.
-
-Elevon mixers
--------------
-Three scalers total (output, roll, pitch).
-
-On the assumption that the two elevon servos are physically reversed, the pitch
-input is inverted between the two servos.
-
-The scaling factor for roll inputs is adjusted to implement differential travel
-for the elevons.
-
-M: 2
-S: 0 0  -8000  -8000      0 -10000  10000
-S: 0 1   6000   6000      0 -10000  10000
-
-M: 2
-S: 0 0  -8000  -8000      0 -10000  10000
-S: 0 1  -6000  -6000      0 -10000  10000
-
-Output 2
---------
-This mixer is empty.
-
-Z:
-
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/generic_diff_rover.main.mix b/ROMFS/px4fmu_common/mixers/generic_diff_rover.main.mix
deleted file mode 100644
index d97aeeac0d..0000000000
--- a/ROMFS/px4fmu_common/mixers/generic_diff_rover.main.mix
+++ /dev/null
@@ -1,26 +0,0 @@
-# @board px4_fmu-v2 exclude
-Generic differential-drive rover
-===========================
-
-This mixer is suitable for controlling any differential-drive rover. That is,
-a rover where the left wheels and right wheels are driven independently,
-allowing turning in place. It outputs to channels 0 (left wheels) and
-1 (right wheels)
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 2 (yaw), and 3 (thrust).
-
-See the README for more information on the scaler format.
-
-
-Throttle of left wheels of rover on Output 0
----------------------------------------
-M: 2
-S: 0 2    10000   10000      0  -10000  10000
-S: 0 3    10000   10000      0  -10000  10000
-
-
-Throttle of right wheels of rover on Output 1
----------------------------------------
-M: 2
-S: 0 2   -10000  -10000      0  -10000  10000
-S: 0 3    10000   10000      0  -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/hexa_+.main.mix b/ROMFS/px4fmu_common/mixers/hexa_+.main.mix
deleted file mode 100644
index 383e2d4e63..0000000000
--- a/ROMFS/px4fmu_common/mixers/hexa_+.main.mix
+++ /dev/null
@@ -1,4 +0,0 @@
-# @board px4_fmu-v2 exclude
-# Hexa +
-
-R: 6+
diff --git a/ROMFS/px4fmu_common/mixers/hexa_cox.main.mix b/ROMFS/px4fmu_common/mixers/hexa_cox.main.mix
deleted file mode 100644
index c8985dfee2..0000000000
--- a/ROMFS/px4fmu_common/mixers/hexa_cox.main.mix
+++ /dev/null
@@ -1,4 +0,0 @@
-# @board px4_fmu-v2 exclude
-# Hexa coaxial
-
-R: 6c
diff --git a/ROMFS/px4fmu_common/mixers/hexa_x.main.mix b/ROMFS/px4fmu_common/mixers/hexa_x.main.mix
deleted file mode 100644
index 2a25a25580..0000000000
--- a/ROMFS/px4fmu_common/mixers/hexa_x.main.mix
+++ /dev/null
@@ -1,5 +0,0 @@
-# @board px4_fmu-v2 exclude
-# Hexa X
-
-R: 6x
-
diff --git a/ROMFS/px4fmu_common/mixers/mount.aux.mix b/ROMFS/px4fmu_common/mixers/mount.aux.mix
deleted file mode 100644
index 2b23af6e7a..0000000000
--- a/ROMFS/px4fmu_common/mixers/mount.aux.mix
+++ /dev/null
@@ -1,20 +0,0 @@
-# @board px4_fmu-v2 exclude
-# Mount Mixer (e.g. Gimbal, servo-controlled gimbal, etc...)
-
-
-# pitch
-M: 1
-S: 2 1  10000  10000      0 -10000  10000
-
-# roll
-M: 1
-S: 2 0  10000  10000      0 -10000  10000
-
-# yaw
-M: 1
-S: 2 2  10000  10000      0 -10000  10000
-
-# Shutter/retract
-M: 1
-S: 2 3  10000  10000      0 -10000  10000
-
diff --git a/ROMFS/px4fmu_common/mixers/mount_legs.aux.mix b/ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
deleted file mode 100644
index c9a0ce49f0..0000000000
--- a/ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
+++ /dev/null
@@ -1,23 +0,0 @@
-# @board px4_fmu-v2 exclude
-
-# Roll channel for mount
-M: 1
-S: 2 0  10000  10000      0 -10000  10000
-
-# Pitch channel for mount
-M: 1
-S: 2 1  10000  10000      0 -10000  10000
-
-# Yaw channel for mount
-M: 1
-S: 2 2  10000  10000      0 -10000  10000
-
-
-# mixer for left leg
-M: 1
-S: 0 7      0  20000 -10000 -10000  10000
-
-# mixer for right leg
-M: 1
-S: 0 7      0  20000 -10000 -10000  10000
-
diff --git a/ROMFS/px4fmu_common/mixers/octo_+.main.mix b/ROMFS/px4fmu_common/mixers/octo_+.main.mix
deleted file mode 100644
index 9f443b33f4..0000000000
--- a/ROMFS/px4fmu_common/mixers/octo_+.main.mix
+++ /dev/null
@@ -1,4 +0,0 @@
-# @board px4_fmu-v2 exclude
-# Octo +
-
-R: 8+
diff --git a/ROMFS/px4fmu_common/mixers/octo_cox.main.mix b/ROMFS/px4fmu_common/mixers/octo_cox.main.mix
deleted file mode 100644
index c6730d8d86..0000000000
--- a/ROMFS/px4fmu_common/mixers/octo_cox.main.mix
+++ /dev/null
@@ -1,4 +0,0 @@
-# @board px4_fmu-v2 exclude
-# Octo coaxial
-
-R: 8c
diff --git a/ROMFS/px4fmu_common/mixers/octo_cox_w.main.mix b/ROMFS/px4fmu_common/mixers/octo_cox_w.main.mix
deleted file mode 100644
index c6ef858590..0000000000
--- a/ROMFS/px4fmu_common/mixers/octo_cox_w.main.mix
+++ /dev/null
@@ -1,4 +0,0 @@
-# Octo coaxial with wide arms
-# @board px4_fmu-v2 exclude
-
-R: 8cw
diff --git a/ROMFS/px4fmu_common/mixers/octo_x.main.mix b/ROMFS/px4fmu_common/mixers/octo_x.main.mix
deleted file mode 100644
index 6ebd0dee99..0000000000
--- a/ROMFS/px4fmu_common/mixers/octo_x.main.mix
+++ /dev/null
@@ -1,4 +0,0 @@
-# @board px4_fmu-v2 exclude
-# Octo X
-
-R: 8x
diff --git a/ROMFS/px4fmu_common/mixers/pass.aux.mix b/ROMFS/px4fmu_common/mixers/pass.aux.mix
deleted file mode 100644
index 4615687def..0000000000
--- a/ROMFS/px4fmu_common/mixers/pass.aux.mix
+++ /dev/null
@@ -1,18 +0,0 @@
-# @board px4_fmu-v2 exclude
-# Manual pass through mixer for servo outputs 1-4
-
-# AUX1 channel (select RC channel with RC_MAP_AUX1 param)
-M: 1
-S: 3 5  10000  10000      0 -10000  10000
-
-# AUX2 channel (select RC channel with RC_MAP_AUX2 param)
-M: 1
-S: 3 6  10000  10000      0 -10000  10000
-
-# AUX3 channel (select RC channel with RC_MAP_AUX3 param)
-M: 1
-S: 3 7  10000  10000      0 -10000  10000
-
-# FLAPS channel (select RC channel with RC_MAP_FLAPS param)
-M: 1
-S: 3 4  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/quad_+.main.mix b/ROMFS/px4fmu_common/mixers/quad_+.main.mix
deleted file mode 100644
index 5dfa5a0014..0000000000
--- a/ROMFS/px4fmu_common/mixers/quad_+.main.mix
+++ /dev/null
@@ -1,17 +0,0 @@
-# @board px4_fmu-v2 exclude
-Multirotor mixer for PX4FMU
-===========================
-
-This file defines a single mixer for a quadrotor in the + configuration. All controls
-are mixed 100%.
-
-R: 4+
-
-Gimbal / payload mixer for last two channels
------------------------------------------------------
-
-M: 1
-S: 3 5  10000  10000      0 -10000  10000
-
-M: 1
-S: 3 6  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/quad_+_vtol.main.mix b/ROMFS/px4fmu_common/mixers/quad_+_vtol.main.mix
deleted file mode 100644
index 34c09c73d3..0000000000
--- a/ROMFS/px4fmu_common/mixers/quad_+_vtol.main.mix
+++ /dev/null
@@ -1,25 +0,0 @@
-# @board px4_fmu-v2 exclude
-Mixer for Tailsitter with + motor configuration and elevons
-===========================================================
-
-This file defines a single mixer for tailsitter with motors in X configuration.  All controls
-are mixed 100%.
-
-R: 4+
-
-# mixer for the elevons
-M: 2
-S: 1 0  10000  10000      0 -10000  10000
-S: 1 1  10000  10000      0 -10000  10000
-
-M: 2
-S: 1 0   10000   10000    0 -10000  10000
-S: 1 1  -10000  -10000    0 -10000  10000
-
-# mixer for canard surface
-M: 1
-S: 1 1  -10000  -10000    0 -10000  10000
-
-# mixer for rudder
-M: 1
-S: 1 2  -10000  -10000    0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/quad_dc.main.mix b/ROMFS/px4fmu_common/mixers/quad_dc.main.mix
deleted file mode 100644
index f87a8bf044..0000000000
--- a/ROMFS/px4fmu_common/mixers/quad_dc.main.mix
+++ /dev/null
@@ -1,7 +0,0 @@
-# @board px4_fmu-v2 exclude
-Multirotor mixer
-===========================
-
-This file defines a single mixer for a quadrotor in DC wide arms configuration.  All controls are mixed 100%.
-
-R: 4dc
diff --git a/ROMFS/px4fmu_common/mixers/quad_h.main.mix b/ROMFS/px4fmu_common/mixers/quad_h.main.mix
deleted file mode 100644
index 9be41f5c09..0000000000
--- a/ROMFS/px4fmu_common/mixers/quad_h.main.mix
+++ /dev/null
@@ -1,17 +0,0 @@
-# @board px4_fmu-v2 exclude
-Multirotor mixer for PX4FMU
-===========================
-
-This file defines a single mixer for a quadrotor in the H configuration.  All controls
-are mixed 100%.
-
-R: 4h
-
-Gimbal / payload mixer for last two channels
------------------------------------------------------
-
-M: 1
-S: 3 5  10000  10000      0 -10000  10000
-
-M: 1
-S: 3 6  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/quad_w.main.mix b/ROMFS/px4fmu_common/mixers/quad_w.main.mix
deleted file mode 100644
index 79bba7752f..0000000000
--- a/ROMFS/px4fmu_common/mixers/quad_w.main.mix
+++ /dev/null
@@ -1,16 +0,0 @@
-# @board px4_fmu-v2 exclude
-Multirotor mixer for PX4FMU
-===========================
-
-This file defines a single mixer for a quadrotor with a wide configuration.  All controls are mixed 100%.
-
-R: 4w
-
-Gimbal / payload mixer for last two channels
------------------------------------------------------
-
-M: 1
-S: 3 5  10000  10000      0 -10000  10000
-
-M: 1
-S: 3 6  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/quad_x.main.mix b/ROMFS/px4fmu_common/mixers/quad_x.main.mix
deleted file mode 100644
index ad676ff3e3..0000000000
--- a/ROMFS/px4fmu_common/mixers/quad_x.main.mix
+++ /dev/null
@@ -1,17 +0,0 @@
-# @board px4_fmu-v2 exclude
-R: 4x
-
-AUX1 Passthrough
-M: 1
-S: 3 5  10000  10000      0 -10000  10000
-
-AUX2 Passthrough
-M: 1
-S: 3 6  10000  10000      0 -10000  10000
-
-Failsafe outputs
-The following outputs are set to their disarmed value
-during normal operation and to their failsafe falue in case
-of flight termination.
-Z:
-Z:
diff --git a/ROMFS/px4fmu_common/mixers/quad_x_cw.main.mix b/ROMFS/px4fmu_common/mixers/quad_x_cw.main.mix
deleted file mode 100644
index 32bc010ba5..0000000000
--- a/ROMFS/px4fmu_common/mixers/quad_x_cw.main.mix
+++ /dev/null
@@ -1,4 +0,0 @@
-# @board px4_fmu-v2 exclude
-# Quad X with clock-wise motor assigment
-
-R: 4xcw
diff --git a/ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix b/ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
deleted file mode 100644
index ae88688925..0000000000
--- a/ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
+++ /dev/null
@@ -1,19 +0,0 @@
-Mixer for Tailsitter with x motor configuration and elevons
-===========================================================
-# @board px4_fmu-v2 exclude
-# @board omnibus_f4sd exclude
-
-This file defines a single mixer for tailsitter with motors in X configuration.  All controls
-are mixed 100%.
-
-R: 4x
-
-# left elevon
-M: 2
-S: 1 0 -5000 -5000      0 -10000  10000
-S: 1 1  5000  5000      0 -10000  10000
-
-# right elevon
-M: 2
-S: 1 0  -5000  -5000    0 -10000  10000
-S: 1 1  -5000  -5000    0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/quad_x_vtol_AAERT.main.mix b/ROMFS/px4fmu_common/mixers/quad_x_vtol_AAERT.main.mix
deleted file mode 100644
index d0f32d9199..0000000000
--- a/ROMFS/px4fmu_common/mixers/quad_x_vtol_AAERT.main.mix
+++ /dev/null
@@ -1,30 +0,0 @@
-# @board px4_fmu-v2 exclude
-Mixer for an AAERT VTOL
-=======================
-
-R: 4x
-
-Aileron 1 mixer
----------------
-M: 1
-S: 1 0  7500  7500    0 -10000  10000
-
-Aileron 2 mixer
----------------
-M: 1
-S: 1 0  7500  7500    0 -10000  10000
-
-Elevator mixer
---------------
-M: 1
-S: 1 1  10000  10000      0 -10000  10000
-
-Rudder mixer
-------------
-M: 1
-S: 1 2 -10000 -10000      0 -10000  10000
-
-Throttle mixer
---------------
-M: 1
-S: 1 3      0  20000 -10000 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/rover_diff_and_servo.main.mix b/ROMFS/px4fmu_common/mixers/rover_diff_and_servo.main.mix
deleted file mode 100644
index bf00eae8f5..0000000000
--- a/ROMFS/px4fmu_common/mixers/rover_diff_and_servo.main.mix
+++ /dev/null
@@ -1,41 +0,0 @@
-# @board px4_fmu-v2 exclude
-Generic car mixer (eg DF Robot GPX:Asurada RC Car)
-===========================
-
-Designed for DF Robot GPX:Asurada
-
-This file defines mixers suitable for controlling a DF Robot GPX:Asurada rover using
-PX4FMU. The configuration assumes the steering is connected to PX4FMU
-servo outputs 1 and the motor speed controls to output 2 and 3. Output 0 is
-assumed to be unused.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 (roll), and 3 (thrust).
-
-See the README for more information on the scaler format.
-
-
-Output 1 - Empty
------------------------------------------
-Z:
-
-Output 2 - Steering mixer using yaw
-------------------------------------------
-M: 1
-O: 10000 10000 0 -10000 10000 5000
-S: 0 2  10000   10000     0 -10000  10000
-
-
-Output 3 - Left row of wheels using yaw and throttle (1s rise time)
-------------------------------------------
-M: 2
-O: 10000 10000 0 -10000 10000 10000
-S: 0 2   -500   -500      0      0  10000
-S: 0 3  10000  10000      0 -10000  10000
-
-
-Output 4 - Right row of wheels using yaw and throttle (1s rise time)
-------------------------------------------
-M: 2
-O: 10000 10000 0 -10000 10000 10000
-S: 0 2    500    500      0      0  10000
-S: 0 3  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/rover_generic.main.mix b/ROMFS/px4fmu_common/mixers/rover_generic.main.mix
deleted file mode 100644
index 687896e722..0000000000
--- a/ROMFS/px4fmu_common/mixers/rover_generic.main.mix
+++ /dev/null
@@ -1,38 +0,0 @@
-# @board px4_fmu-v2 exclude
-Generic car mixer (eg Traxxas Stampede RC Car)
-===========================
-
-Designed for Traxxas Stampede
-
-This file defines mixers suitable for controlling a Traxxas Stampede rover using
-PX4FMU. The configuration assumes the steering is connected to PX4FMU
-servo outputs  1 and the motor speed control to output 3. Output 0 and 2 is
-assumed to be unused.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 2 (yaw), and 3 (thrust).
-
-See the README for more information on the scaler format.
-
-
-Output 1: Empty
----------------------------------------
-Z:
-
-Output 2: Steering mixer using yaw, with 0.5s rise time
----------------------------------------
-M: 1
-O: 10000 10000 0 -10000 10000 5000
-S: 0 2   10000   10000      0 -10000  10000
-
-
-Output 3: Empty
----------------------------------------
-This mixer is empty.
-Z:
-
-
-Output 4: Throttle with 2s rise time
----------------------------------------
-M: 1
-O: 10000 10000 0 -10000 10000 20000
-S: 0 3  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/standard_vtol_hitl.main.mix b/ROMFS/px4fmu_common/mixers/standard_vtol_hitl.main.mix
deleted file mode 100644
index a7ce6c991a..0000000000
--- a/ROMFS/px4fmu_common/mixers/standard_vtol_hitl.main.mix
+++ /dev/null
@@ -1,22 +0,0 @@
-Mixer for Standard VTOL (QuadPlane) with motor x configuration (Gazebo HITL)
-=============================================================================
-
-# @board px4_fmu-v2 exclude
-
-R: 4x
-
-# mixer for the pusher/puller throttle
-M: 1
-S: 1 3      0  20000 -10000 -10000  10000
-
-# mixer for the left aileron
-M: 1
-S: 1 0 -10000 -10000    0 -10000  10000
-
-# mixer for the right aileron
-M: 1
-S: 1 0   10000   10000    0 -10000  10000
-
-# mixer for the elevator
-M: 1
-S: 1 1   10000   10000    0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/tilt_quad.aux.mix b/ROMFS/px4fmu_common/mixers/tilt_quad.aux.mix
deleted file mode 100644
index fd4d3d9068..0000000000
--- a/ROMFS/px4fmu_common/mixers/tilt_quad.aux.mix
+++ /dev/null
@@ -1,33 +0,0 @@
-Tilt-Quadrotor mixer for PX4FMU (2/2) V2
-===========================
-
-# @board px4_fmu-v2 exclude
-
-This file defines the aux outputs mixer for a Tilt-quadrotor in the + configuration.
-
-# @output AUX1 Outer servo motor for rotor 2 arm
-# @output AUX2 Outer servo motor for rotor 4 arm
-# @output AUX3 Inner servo motor for rotor 2 arm
-# @output AUX4 Inner servo motor for rotor 4 arm
-
-Servo 1
-
-M: 1
-S: 0 1   -1000  -1000     0 -10000  10000
-
-Servo 2
-
-M: 1
-S: 0 1   1000   1000      0 -10000  10000
-
-Servo 3
-
-M: 2
-S: 0 2 -10000 -10000      0 -10000  10000
-S: 3 5  10000  10000      0 -10000  10000
-
-Servo 4
-
-M: 2
-S: 0 2  10000  10000      0 -10000  10000
-S: 3 5  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/tilt_quad.main.mix b/ROMFS/px4fmu_common/mixers/tilt_quad.main.mix
deleted file mode 100644
index 5d7cf9acb1..0000000000
--- a/ROMFS/px4fmu_common/mixers/tilt_quad.main.mix
+++ /dev/null
@@ -1,35 +0,0 @@
-Tilt-Quadrotor mixer for PX4FMU (1/2) V2
-===========================
-
-# @board px4_fmu-v2 exclude
-
-This file defines the main outputs mixer for a Tilt-quadrotor in the + configuration.
-
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-
-Motor 1
-
-M: 2
-S: 0 1  10000   10000     0 -10000  10000
-S: 0 3  10000   10000     0 -10000  10000
-
-Motor 2
-
-M: 2
-S: 0 0  10000  10000      0 -10000  10000
-S: 0 3  10000  10000      0 -10000  10000
-
-Motor 3
-
-M: 2
-S: 0 1 -10000 -10000      0 -10000  10000
-S: 0 3  10000  10000      0 -10000  10000
-
-Motor 4
-
-M: 2
-S: 0 0 -10000 -10000      0 -10000  10000
-S: 0 3  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/tri_y_yaw+.main.mix b/ROMFS/px4fmu_common/mixers/tri_y_yaw+.main.mix
deleted file mode 100644
index 9b0a9b2708..0000000000
--- a/ROMFS/px4fmu_common/mixers/tri_y_yaw+.main.mix
+++ /dev/null
@@ -1,12 +0,0 @@
-# @board px4_fmu-v2 exclude
-
-
-# Tricopter Y-Configuration Mixer
-# Yaw Servo +Output ==> +Yaw Vehicle Rotation
-
-# Motors
-R: 3y
-
-# Yaw Servo
-M: 1
-S: 0 2  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/tri_y_yaw-.main.mix b/ROMFS/px4fmu_common/mixers/tri_y_yaw-.main.mix
deleted file mode 100644
index d53811142b..0000000000
--- a/ROMFS/px4fmu_common/mixers/tri_y_yaw-.main.mix
+++ /dev/null
@@ -1,13 +0,0 @@
-# @board px4_fmu-v2 exclude
-
-
-# Tricopter Y-Configuration Mixer
-# Yaw Servo +Output ==> -Yaw Vehicle Rotation
-
-# Motors
-R: 3y
-
-# Yaw Servo
-M: 1
-S: 0 2 -10000 -10000      0 -10000  10000
-
diff --git a/ROMFS/px4fmu_common/mixers/vtol_AAERT.aux.mix b/ROMFS/px4fmu_common/mixers/vtol_AAERT.aux.mix
deleted file mode 100644
index efef782992..0000000000
--- a/ROMFS/px4fmu_common/mixers/vtol_AAERT.aux.mix
+++ /dev/null
@@ -1,29 +0,0 @@
-Mixer for an AAERT VTOL
-=======================
-
-# @board px4_fmu-v2 exclude
-
-Aileron 1 mixer
----------------
-M: 1
-S: 1 0  7500  7500    0 -10000  10000
-
-Aileron 2 mixer
----------------
-M: 1
-S: 1 0  7500  7500    0 -10000  10000
-
-Elevator mixer
---------------
-M: 1
-S: 1 1  10000  10000      0 -10000  10000
-
-Rudder mixer
-------------
-M: 1
-S: 1 2 -10000 -10000      0 -10000  10000
-
-Throttle mixer
---------------
-M: 1
-S: 1 3      0  20000 -10000 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/vtol_AAVVT.aux.mix b/ROMFS/px4fmu_common/mixers/vtol_AAVVT.aux.mix
deleted file mode 100644
index e59584b213..0000000000
--- a/ROMFS/px4fmu_common/mixers/vtol_AAVVT.aux.mix
+++ /dev/null
@@ -1,56 +0,0 @@
-Aileron/v-tail/throttle VTOL mixer for PX4FMU
-=======================================================
-
-# @board px4_fmu-v2 exclude
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
-The configuration assumes the aileron servos are connected to PX4FMU
-AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
-to output 4.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
-
-Aileron mixer (roll + spoiler)
----------------------------------
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 2
-S: 1 0 -10000 -10000      0 -10000  10000
-S: 1 5  10000  10000      0 -10000  10000
-
-M: 2
-S: 1 0 -10000 -10000      0 -10000  10000
-S: 1 5 -10000 -10000      0 -10000  10000
-
-
-V-tail mixers
--------------
-Three scalers total (output, roll, pitch).
-
-On the assumption that the two tail servos are physically reversed, the pitch
-input is inverted between the two servos.
-
-M: 2
-S: 1 2  -7000  -7000      0 -10000  10000
-S: 1 1  -8000  -8000      0 -10000  10000
-
-M: 2
-S: 1 2  -7000  -7000      0 -10000  10000
-S: 1 1   8000   8000      0 -10000  10000
-
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-S: 1 3      0  20000 -10000 -10000  10000
-
diff --git a/ROMFS/px4fmu_common/mixers/vtol_TTTTAAER.aux.mix b/ROMFS/px4fmu_common/mixers/vtol_TTTTAAER.aux.mix
deleted file mode 100644
index fe684c70bc..0000000000
--- a/ROMFS/px4fmu_common/mixers/vtol_TTTTAAER.aux.mix
+++ /dev/null
@@ -1,41 +0,0 @@
-# Generic quadplane tiltrotor servo mixer
-
-# @board px4_fmu-v2 exclude
-
-# Tilt mechanism servo mixer
----------------------------
-# front left up:2000 down:1000
-M: 1
-S: 1 8      0 -20000  10000 -10000  10000
-
-# front right up:1000 down:2000
-M: 1
-S: 1 8      0  20000 -10000 -10000  10000
-
-# rear left up:2000 down:1000
-M: 1
-S: 1 8      0 -20000  10000 -10000  10000
-
-# rear right up:1000 down:2000
-M: 1
-S: 1 8      0  20000 -10000 -10000  10000
-
-
-# Aileron mixer
-# ---------------------------------
-M: 1
-S: 1 0  10000  10000      0 -10000  10000
-
-M: 1
-S: 1 0  10000  10000      0 -10000  10000
-
-
-# Elevator mixer
-# ------------
-M: 1
-S: 1 1  -10000  -10000    0 -10000  10000
-
-# Rudder mixer
-# ------------
-M: 1
-S: 1 2  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/vtol_delta.aux.mix b/ROMFS/px4fmu_common/mixers/vtol_delta.aux.mix
deleted file mode 100644
index af248f7ce0..0000000000
--- a/ROMFS/px4fmu_common/mixers/vtol_delta.aux.mix
+++ /dev/null
@@ -1,52 +0,0 @@
-Delta-wing VTOL mixer
-=====================
-# @board px4_fmu-v2 exclude
-
-This file defines mixers suitable for controlling a delta wing VTOL aircraft using
-PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
-AUX servo outputs 0 and 1 and the motor speed control to output 2.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-See the README for more information on the scaler format.
-
-Elevon mixers
--------------
-Three scalers total (output, roll, pitch).
-
-On the assumption that the two elevon servos are physically reversed, the pitch
-input is inverted between the two servos.
-
-M: 2
-S: 1 0   8000   8000      0 -10000  10000
-S: 1 1   8000   8000      0 -10000  10000
-
-M: 2
-S: 1 0   8000   8000      0 -10000  10000
-S: 1 1  -8000  -8000      0 -10000  10000
-
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-S: 1 3      0  20000 -10000 -10000  10000
-
-
-Reverse thrust (brake) mixer
------------------
-
-M: 1
-S: 1 6      0  20000 -10000 -10000  10000
-
-
-Aux1 mixer
------------------
-This is actuated on the AUX5 port
-
-M: 1
-S: 3 5  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo.main.mix b/ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo.main.mix
deleted file mode 100644
index ba3a277224..0000000000
--- a/ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo.main.mix
+++ /dev/null
@@ -1,38 +0,0 @@
-Tailsitter duo mixer
-============================
-# @board px4_fmu-v2 exclude
-
-This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
-has two motors in total, one attached to each wing. It also has two elevons which
-are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
-on the main PWM output port, two at 400Hz for the motors, and two at 50Hz for the
-elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
-at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
-
-Motor mixer
-------------
-Channel 1 connects to the right (starboard) motor.
-Channel 2 connects to the left (port) motor.
-
-R: 2-
-
-Zero mixer (2x)
----------------
-Channels 3,4 are unused.
-
-Z:
-
-Z:
-
-Elevons mixer
---------------
-Channel 5 connects to the right (starboard) elevon.
-Channel 6 connects to the left (port) elevon.
-
-M: 2
-S: 1 0   10000   10000    0 -10000  10000
-S: 1 1   10000   10000    0 -10000  10000
-
-M: 2
-S: 1 0   10000   10000    0 -10000  10000
-S: 1 1  -10000  -10000    0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo_sat.main.mix b/ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo_sat.main.mix
deleted file mode 100644
index 55d0f1fe4a..0000000000
--- a/ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo_sat.main.mix
+++ /dev/null
@@ -1,40 +0,0 @@
-# @board px4_fmu-v2 exclude
-Tailsitter duo mixer
-============================
-
-This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
-has two motors in total, one attached to each wing. It also has two elevons which
-are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
-on the main PWM output port, two at 400Hz for the motors, and two at 50Hz for the
-elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
-at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
-
-Motor mixer
-------------
-Channel 1 connects to the right (starboard) motor.
-Channel 2 connects to the left (port) motor.
-
-R: 2-
-
-Zero mixer (2x)
----------------
-Channels 3,4 are unused.
-
-Z:
-
-Z:
-
-Elevons mixer
---------------
-Channel 5 connects to the right (starboard) elevon.
-Channel 6 connects to the left (port) elevon.
-Here we saturate the elevons before their full range
-to avoid roll-pitch-yaw coupling during faster maneuvers
-
-M: 2
-S: 1 0   10000   10000    0 -6000  6000
-S: 1 1   10000   10000    0 -6000  6000
-
-M: 2
-S: 1 0   10000   10000    0 -6000  6000
-S: 1 1  -10000  -10000    0 -6000  6000
diff --git a/ROMFS/px4fmu_test/CMakeLists.txt b/ROMFS/px4fmu_test/CMakeLists.txt
index be3e27cb99..4844928124 100644
--- a/ROMFS/px4fmu_test/CMakeLists.txt
+++ b/ROMFS/px4fmu_test/CMakeLists.txt
@@ -32,4 +32,3 @@
 ############################################################################
 
 add_subdirectory(init.d)
-add_subdirectory(mixers)
diff --git a/ROMFS/px4fmu_test/mixers/AAERTWF.main.mix b/ROMFS/px4fmu_test/mixers/AAERTWF.main.mix
deleted file mode 100644
index 150e95d894..0000000000
--- a/ROMFS/px4fmu_test/mixers/AAERTWF.main.mix
+++ /dev/null
@@ -1,96 +0,0 @@
-Aileron/rudder/elevator/throttle/wheel/flaps mixer for PX4FMU
-=======================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, rudder, elevator, throttle and steerable wheel controls using PX4FMU.
-The configuration assumes the aileron servo(s) are connected to PX4FMU servo
-output 0 and 1, the elevator to output 2, the rudder to output 3, the throttle
-to output 4 and the wheel to output 5.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
-
-Aileron mixer (roll + spoiler)
----------------------------------
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-S: 0 5 -10000 -10000      0 -10000  10000
-
-Elevator mixer
-------------
-Two scalers total (output, roll).
-
-This mixer assumes that the elevator servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 1  -10000  -10000      0 -10000  10000
-
-Rudder mixer
-------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the rudder servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 2  10000  10000      0 -10000  10000
-
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
-
-Wheel mixer
-------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the wheel servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 2  10000  10000      0 -10000  10000
-
-
-Flaps / gimbal / payload mixer for last three channels,
-using the payload control group
------------------------------------------------------
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 0  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 2  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_test/mixers/AAVVTWFF.main.mix b/ROMFS/px4fmu_test/mixers/AAVVTWFF.main.mix
deleted file mode 100644
index 531cccaf1a..0000000000
--- a/ROMFS/px4fmu_test/mixers/AAVVTWFF.main.mix
+++ /dev/null
@@ -1,84 +0,0 @@
-Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
-=======================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps
-using PX4FMU.
-The configuration assumes the aileron servos are connected to PX4FMU servo
-output 0 and 1, the tail servos to output 2 and 3, the throttle
-to output 4, the wheel to output 5 and the flaps to output 6 and 7.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 5 (spoiler).
-
-Aileron mixer (roll + spoiler)
----------------------------------
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-S: 0 5 -10000 -10000      0 -10000  10000
-
-V-tail mixers
--------------
-Three scalers total (output, roll, pitch).
-
-On the assumption that the two tail servos are physically reversed, the pitch
-input is inverted between the two servos.
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 2  -7000  -7000      0 -10000  10000
-S: 0 1  -8000  -8000      0 -10000  10000
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 2  -7000  -7000      0 -10000  10000
-S: 0 1   8000   8000      0 -10000  10000
-
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
-
-Wheel mixer
-------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the wheel servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 2 -10000 -10000      0 -10000  10000
-
-Flaps mixer
-------------
-Flap servos are physically reversed.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4      0   5000 -10000 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4      0  -5000  10000 -10000  10000
-
diff --git a/ROMFS/px4fmu_test/mixers/AERT.main.mix b/ROMFS/px4fmu_test/mixers/AERT.main.mix
deleted file mode 100644
index 975d520081..0000000000
--- a/ROMFS/px4fmu_test/mixers/AERT.main.mix
+++ /dev/null
@@ -1,81 +0,0 @@
-Aileron/rudder/elevator/throttle mixer for PX4FMU
-==================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
-assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
-elevator to output 1, the rudder to output 2 and the throttle to output 3.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-CH1: Aileron mixer
--------------
-Two scalers total (output, roll).
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-As there is only one output, if using two servos adjustments to compensate for
-differences between the servos must be made mechanically.  To obtain the correct
-motion using a Y  cable, the servos can be positioned reversed from one another.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-
-CH2: Elevator mixer
-------------
-Two scalers total (output, roll).
-
-This mixer assumes that the elevator servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 1  -10000  -10000      0 -10000  10000
-
-CH3: Rudder mixer
-------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the rudder servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 2  10000  10000      0 -10000  10000
-
-CH4: Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
-
-CH5: Flaps mixer
-------------
-Flaps are controlled automatically in position control and auto
-but can also be controlled manually
-
-M: 1
-O: 5000 10000 0 -10000 10000
-S: 0 4 10000 10000 0 -10000 10000
-
-Ch6: Landing gear mixer
-------------
-By default pass-through of gear switch
-
-M: 1
-O: 10000 10000 0 -10000 10000
-S: 3 5 10000 10000 0 -10000 10000
\ No newline at end of file
diff --git a/ROMFS/px4fmu_test/mixers/AETRFG.main.mix b/ROMFS/px4fmu_test/mixers/AETRFG.main.mix
deleted file mode 100644
index 47de4ed3e0..0000000000
--- a/ROMFS/px4fmu_test/mixers/AETRFG.main.mix
+++ /dev/null
@@ -1,81 +0,0 @@
-Aileron/Elevator/Throttle/Rudder/Gear/Flaps mixer
-==================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, rudder, elevator, throttle, gear, flaps controls. The configuration
-assumes the aileron servo(s) are connected to output 0, the elevator to
-output 1, the throttle to output 2 and the rudder to output 3.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (thrust), 3 (yaw), 4 (flaps), 7 (landing gear)
-
-CH1: Aileron mixer
--------------
-Two scalers total (output, roll).
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-As there is only one output, if using two servos adjustments to compensate for
-differences between the servos must be made mechanically.  To obtain the correct
-motion using a Y  cable, the servos can be positioned reversed from one another.
-
-M: 1
-O:       10000   10000      0  -10000  10000
-S: 0 0   10000   10000      0  -10000  10000
-
-CH2: Elevator mixer
-------------
-Two scalers total (output, roll).
-
-This mixer assumes that the elevator servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:       10000   10000      0  -10000  10000
-S: 0 1  -10000  -10000      0  -10000  10000
-
-CH3: Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:       10000  10000       0  -10000  10000
-S: 0 3       0  20000  -10000  -10000  10000
-
-CH4: Rudder mixer
-------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the rudder servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:       10000  10000       0  -10000  10000
-S: 0 2   10000  10000       0  -10000  10000
-
-CH5: Flaps mixer
-------------
-Flaps are controlled automatically in position control and auto
-but can also be controlled manually
-
-M: 1
-O:        5000  10000       0  -10000  10000
-S: 0 4   10000  10000       0  -10000  10000
-
-CH6: Landing gear mixer
-------------
-By default pass-through of gear switch
-
-M: 1
-O:        10000 10000       0  -10000  10000
-S: 3 5    10000 10000       0  -10000  10000
diff --git a/ROMFS/px4fmu_test/mixers/CMakeLists.txt b/ROMFS/px4fmu_test/mixers/CMakeLists.txt
deleted file mode 100644
index 287652a9b8..0000000000
--- a/ROMFS/px4fmu_test/mixers/CMakeLists.txt
+++ /dev/null
@@ -1,53 +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.
-#
-############################################################################
-
-px4_add_romfs_files(
-	AAERTWF.main.mix
-	AAVVTWFF.main.mix
-	AERT.main.mix
-	AETRFG.main.mix
-	complex_test.mix
-	hexa_x.main.mix
-	IO_pass.mix
-	octo_x.main.mix
-	pass.aux.mix
-	quad_+.main.mix
-	quad_test.mix
-	quad_+_vtol.main.mix
-	rover_generic.main.mix
-	vtol1_test.mix
-	vtol2_test.mix
-	vtol_AAERT.aux.mix
-	vtol_AAVVT.aux.mix
-	vtol_convergence.main.mix
-	)
diff --git a/ROMFS/px4fmu_test/mixers/IO_pass.mix b/ROMFS/px4fmu_test/mixers/IO_pass.mix
deleted file mode 100644
index 39f875ddb9..0000000000
--- a/ROMFS/px4fmu_test/mixers/IO_pass.mix
+++ /dev/null
@@ -1,38 +0,0 @@
-Passthrough mixer for PX4IO
-============================
-
-This file defines passthrough mixers suitable for testing.
-
-Channel group 0, channels 0-7 are passed directly through to the outputs.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 1  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 2  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_test/mixers/complex_test.mix b/ROMFS/px4fmu_test/mixers/complex_test.mix
deleted file mode 100644
index 06b5e62594..0000000000
--- a/ROMFS/px4fmu_test/mixers/complex_test.mix
+++ /dev/null
@@ -1,27 +0,0 @@
-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: 1
-O:      10000  10000      0 -10000  10000
-S: 0 1  10000  10000      0 -10000  10000
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 2  10000  10000      0 -10000  10000
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3  10000  10000      0 -10000  10000
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_test/mixers/hexa_x.main.mix b/ROMFS/px4fmu_test/mixers/hexa_x.main.mix
deleted file mode 100644
index be6a25ca57..0000000000
--- a/ROMFS/px4fmu_test/mixers/hexa_x.main.mix
+++ /dev/null
@@ -1,4 +0,0 @@
-# Hexa X
-
-R: 6x
-
diff --git a/ROMFS/px4fmu_test/mixers/octo_x.main.mix b/ROMFS/px4fmu_test/mixers/octo_x.main.mix
deleted file mode 100644
index 1be7209411..0000000000
--- a/ROMFS/px4fmu_test/mixers/octo_x.main.mix
+++ /dev/null
@@ -1,3 +0,0 @@
-# Octo X
-
-R: 8x
diff --git a/ROMFS/px4fmu_test/mixers/pass.aux.mix b/ROMFS/px4fmu_test/mixers/pass.aux.mix
deleted file mode 100644
index 8e7011f0ed..0000000000
--- a/ROMFS/px4fmu_test/mixers/pass.aux.mix
+++ /dev/null
@@ -1,21 +0,0 @@
-# Manual pass through mixer for servo outputs 1-4
-
-# AUX1 channel (select RC channel with RC_MAP_AUX1 param)
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 3 5  10000  10000      0 -10000  10000
-
-# AUX2 channel (select RC channel with RC_MAP_AUX2 param)
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 3 6  10000  10000      0 -10000  10000
-
-# AUX3 channel (select RC channel with RC_MAP_AUX3 param)
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 3 7  10000  10000      0 -10000  10000
-
-# FLAPS channel (select RC channel with RC_MAP_FLAPS param)
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 3 4  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_test/mixers/quad_+.main.mix b/ROMFS/px4fmu_test/mixers/quad_+.main.mix
deleted file mode 100644
index c45a501961..0000000000
--- a/ROMFS/px4fmu_test/mixers/quad_+.main.mix
+++ /dev/null
@@ -1,18 +0,0 @@
-Multirotor mixer for PX4FMU
-===========================
-
-This file defines a single mixer for a quadrotor in the + configuration. All controls
-are mixed 100%.
-
-R: 4+
-
-Gimbal / payload mixer for last two channels
------------------------------------------------------
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 3 5  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 3 6  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_test/mixers/quad_+_vtol.main.mix b/ROMFS/px4fmu_test/mixers/quad_+_vtol.main.mix
deleted file mode 100644
index 8ab9a9fb91..0000000000
--- a/ROMFS/px4fmu_test/mixers/quad_+_vtol.main.mix
+++ /dev/null
@@ -1,28 +0,0 @@
-Mixer for Tailsitter with + motor configuration and elevons
-===========================================================
-
-This file defines a single mixer for tailsitter with motors in X configuration.  All controls
-are mixed 100%.
-
-R: 4+
-
-# mixer for the elevons
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 0  10000  10000      0 -10000  10000
-S: 1 1  10000  10000      0 -10000  10000
-
-M: 2
-O:       10000   10000    0 -10000  10000
-S: 1 0   10000   10000    0 -10000  10000
-S: 1 1  -10000  -10000    0 -10000  10000
-
-# mixer for canard surface
-M: 1
-O:       10000   10000    0 -10000  10000
-S: 1 1  -10000  -10000    0 -10000  10000
-
-# mixer for rudder
-M: 1
-O:       10000   10000    0 -10000  10000
-S: 1 2  -10000  -10000    0 -10000  10000
diff --git a/ROMFS/px4fmu_test/mixers/quad_test.mix b/ROMFS/px4fmu_test/mixers/quad_test.mix
deleted file mode 100644
index d3ed8a3479..0000000000
--- a/ROMFS/px4fmu_test/mixers/quad_test.mix
+++ /dev/null
@@ -1,25 +0,0 @@
-Multirotor mixer for TEST
-===========================
-
-This file defines a single mixer for a quadrotor with a wide configuration.  All controls are mixed 100%.
-
-R: 4w
-
-Gimbal / payload mixer for last four channels
------------------------------------------------------
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_test/mixers/quad_x.main.mix b/ROMFS/px4fmu_test/mixers/quad_x.main.mix
deleted file mode 100644
index 85b9927002..0000000000
--- a/ROMFS/px4fmu_test/mixers/quad_x.main.mix
+++ /dev/null
@@ -1,7 +0,0 @@
-R: 4x
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 3 5  10000  10000      0 -10000  10000
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 3 6  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_test/mixers/rover_generic.main.mix b/ROMFS/px4fmu_test/mixers/rover_generic.main.mix
deleted file mode 100644
index aacfef1f5b..0000000000
--- a/ROMFS/px4fmu_test/mixers/rover_generic.main.mix
+++ /dev/null
@@ -1,37 +0,0 @@
-Generic car mixer (eg Traxxas Stampede RC Car)
-===========================
-
-Designed for Traxxas Stampede
-
-This file defines mixers suitable for controlling a Traxxas Stampede rover using
-PX4FMU. The configuration assumes the steering is connected to PX4FMU
-servo outputs  1 and the motor speed control to output 3. Output 0 and 2 is
-assumed to be unused.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 2 (yaw), and 3 (thrust).
-
-See the README for more information on the scaler format.
-
-
-Output 0
----------------------------------------
-Z:
-
-Steering mixer using roll on output 1
----------------------------------------
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 2   10000   10000      0 -10000  10000
-
-
-Output 2
----------------------------------------
-This mixer is empty.
-Z:
-
-
-Output 3
----------------------------------------
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_test/mixers/vtol1_test.mix b/ROMFS/px4fmu_test/mixers/vtol1_test.mix
deleted file mode 100644
index 9df14777be..0000000000
--- a/ROMFS/px4fmu_test/mixers/vtol1_test.mix
+++ /dev/null
@@ -1,12 +0,0 @@
-# VTOL test mixer
-
-R: 2-
-Z:
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 0  10000  10000      0 -10000  10000
-S: 1 1  10000  10000      0 -10000  10000
-M: 2
-O:       10000   10000    0 -10000  10000
-S: 1 0   10000   10000    0 -10000  10000
-S: 1 1  -10000  -10000    0 -10000  10000
diff --git a/ROMFS/px4fmu_test/mixers/vtol2_test.mix b/ROMFS/px4fmu_test/mixers/vtol2_test.mix
deleted file mode 100644
index f9ed50e6c9..0000000000
--- a/ROMFS/px4fmu_test/mixers/vtol2_test.mix
+++ /dev/null
@@ -1,32 +0,0 @@
-# E-flite Convergence Tricopter Y-Configuration Mixer
-
-# Motors
-R: 3y
-
-Z:
-
-Tilt mechanism servo mixer
----------------------------
-#RIGHT up:2000 down:1000
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 8      0 -20000   9000 -10000  10000
-S: 0 2   4000   4000      0 -10000  10000
-
-#LEFT up:1000 down:2000
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 8      0  20000  -10000 -10000  10000
-S: 0 2   4000   4000      0 -10000  10000
-
-Elevon mixers
--------------
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 0  -7500  -7500      0 -10000  10000
-S: 1 1   8000   8000      0 -10000  10000
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 0  -7500  -7500      0 -10000  10000
-S: 1 1  -8000  -8000      0 -10000  10000
diff --git a/ROMFS/px4fmu_test/mixers/vtol_AAERT.aux.mix b/ROMFS/px4fmu_test/mixers/vtol_AAERT.aux.mix
deleted file mode 100644
index f3e9c42354..0000000000
--- a/ROMFS/px4fmu_test/mixers/vtol_AAERT.aux.mix
+++ /dev/null
@@ -1,32 +0,0 @@
-Mixer for an AAERT VTOL
-=======================
-
-Aileron 1 mixer
----------------
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 1 0  -7500  -7500      0 -10000  10000
-
-Aileron 2 mixer
----------------
-M: 1
-O:       10000   10000    0 -10000  10000
-S: 1 0   -7500   -7500    0 -10000  10000
-
-Elevator mixer
---------------
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 1 1  10000  10000      0 -10000  10000
-
-Rudder mixer
-------------
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 1 2 -10000 -10000      0 -10000  10000
-
-Throttle mixer
---------------
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 1 3      0  20000 -10000 -10000  10000
diff --git a/ROMFS/px4fmu_test/mixers/vtol_AAVVT.aux.mix b/ROMFS/px4fmu_test/mixers/vtol_AAVVT.aux.mix
deleted file mode 100644
index a9026ebd65..0000000000
--- a/ROMFS/px4fmu_test/mixers/vtol_AAVVT.aux.mix
+++ /dev/null
@@ -1,59 +0,0 @@
-Aileron/v-tail/throttle VTOL mixer for PX4FMU
-=======================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
-The configuration assumes the aileron servos are connected to PX4FMU
-AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
-to output 4.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 5 (spoiler).
-
-Aileron mixer (roll + spoiler)
----------------------------------
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 0  10000  10000      0 -10000  10000
-S: 1 5  10000  10000      0 -10000  10000
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 0  10000  10000      0 -10000  10000
-S: 1 5 -10000 -10000      0 -10000  10000
-
-
-V-tail mixers
--------------
-Three scalers total (output, roll, pitch).
-
-On the assumption that the two tail servos are physically reversed, the pitch
-input is inverted between the two servos.
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 2  -7000  -7000      0 -10000  10000
-S: 1 1  -8000  -8000      0 -10000  10000
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 2  -7000  -7000      0 -10000  10000
-S: 1 1   8000   8000      0 -10000  10000
-
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 1 3      0  20000 -10000 -10000  10000
-
diff --git a/ROMFS/px4fmu_test/mixers/vtol_convergence.main.mix b/ROMFS/px4fmu_test/mixers/vtol_convergence.main.mix
deleted file mode 100644
index ed9b69360b..0000000000
--- a/ROMFS/px4fmu_test/mixers/vtol_convergence.main.mix
+++ /dev/null
@@ -1,32 +0,0 @@
-# E-flite Convergence Tricopter Y-Configuration Mixer
-
-# Motors
-R: 3y
-
-Z:
-
-Tilt mechanism servo mixer
----------------------------
-#RIGHT up:2000 down:1000
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 8      0 -20000  10000 -10000  10000
-S: 0 2   8000   8000      0 -10000  10000
-
-#LEFT up:1000 down:2000
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 8      0  20000 -10000 -10000  10000
-S: 0 2   8000   8000      0 -10000  10000
-
-Elevon mixers
--------------
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 0  -7500  -7500      0 -10000  10000
-S: 1 1   8000   8000      0 -10000  10000
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 0  -7500  -7500      0 -10000  10000
-S: 1 1  -8000  -8000      0 -10000  10000
diff --git a/Tools/px_romfs_pruner.py b/Tools/px_romfs_pruner.py
index 46b9eff80f..20ae3109bf 100755
--- a/Tools/px_romfs_pruner.py
+++ b/Tools/px_romfs_pruner.py
@@ -105,18 +105,10 @@ def main():
                     # find excluded boards
                     if re.search(r'\b{0} exclude\b'.format(args.board), line):
                         board_excluded = True
-                    # handle mixer files differently than startup files
-                    if file_path.endswith(".mix"):
-                        if line.startswith(("Z:", "M:", "R: ", "O:", "S:",
-                                            "H:", "T:", "P:", "A:")):
-                            # reduce multiple consecutive spaces into a
-                            # single space
-                            line_reduced = re.sub(' +', ' ', line)
-                            pruned_content += line_reduced
-                    else:
-                        if not line.isspace() \
-                                and not line.strip().startswith("#"):
-                            pruned_content += line.strip() + "\n"
+
+                    if not line.isspace() \
+                            and not line.strip().startswith("#"):
+                        pruned_content += line.strip() + "\n"
             # delete the file if it doesn't contain the architecture
             # write out the pruned content else
             if not board_excluded:
diff --git a/Tools/run-shellcheck.sh b/Tools/run-shellcheck.sh
index af64143761..5c745bad7a 100755
--- a/Tools/run-shellcheck.sh
+++ b/Tools/run-shellcheck.sh
@@ -14,7 +14,7 @@ search_directory="$1"
 command -v shellcheck >/dev/null 2>&1 || { echo -e >&2 \
 "Error: shellcheck required but it's not installed. On Ubuntu use:\n sudo apt-get install shellcheck\n\nAborting."; exit 1; }
 
-scripts="$(find "$search_directory" -type f ! -name '*.txt' ! -name '*.mix' ! -name '*.bin')"
+scripts="$(find "$search_directory" -type f ! -name '*.txt' ! -name '*.bin')"
 
 echo "Running shellcheck in '$search_directory'."
 
diff --git a/boards/cubepilot/cubeorange/init/rc.board_defaults b/boards/cubepilot/cubeorange/init/rc.board_defaults
index 7f961cd33e..8ae2ed458b 100644
--- a/boards/cubepilot/cubeorange/init/rc.board_defaults
+++ b/boards/cubepilot/cubeorange/init/rc.board_defaults
@@ -14,4 +14,6 @@ param set-default SENS_EN_THERMAL 0
 
 param set-default -s SENS_TEMP_ID 2621474
 
+param set-default SYS_USE_IO 1
+
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
diff --git a/boards/cubepilot/cubeyellow/init/rc.board_defaults b/boards/cubepilot/cubeyellow/init/rc.board_defaults
index 6f39beb0c8..54705e650d 100644
--- a/boards/cubepilot/cubeyellow/init/rc.board_defaults
+++ b/boards/cubepilot/cubeyellow/init/rc.board_defaults
@@ -13,4 +13,6 @@ param set-default BAT2_A_PER_V 17
 # Disable IMU thermal control
 param set-default SENS_EN_THERMAL 0
 
+param set-default SYS_USE_IO 1
+
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
diff --git a/boards/holybro/durandal-v1/init/rc.board_defaults b/boards/holybro/durandal-v1/init/rc.board_defaults
index 49254efb15..2a3b2c0a7b 100644
--- a/boards/holybro/durandal-v1/init/rc.board_defaults
+++ b/boards/holybro/durandal-v1/init/rc.board_defaults
@@ -11,3 +11,5 @@ param set-default BAT2_A_PER_V 36.367515152
 
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1
+
+param set-default SYS_USE_IO 1
diff --git a/boards/holybro/pix32v5/init/rc.board_defaults b/boards/holybro/pix32v5/init/rc.board_defaults
index c2300a50a7..94c5828214 100644
--- a/boards/holybro/pix32v5/init/rc.board_defaults
+++ b/boards/holybro/pix32v5/init/rc.board_defaults
@@ -9,5 +9,7 @@ param set-default BAT2_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
 
+param set-default SYS_USE_IO 1
+
 rgbled_pwm start
 safety_button start
diff --git a/boards/mro/x21-777/init/rc.board_defaults b/boards/mro/x21-777/init/rc.board_defaults
index 5d576dd747..e9fecd78a8 100644
--- a/boards/mro/x21-777/init/rc.board_defaults
+++ b/boards/mro/x21-777/init/rc.board_defaults
@@ -5,3 +5,5 @@
 
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
+
+param set-default SYS_USE_IO 1
diff --git a/boards/mro/x21/extras/px4_io-v2_default.bin b/boards/mro/x21/extras/px4_io-v2_default.bin
new file mode 100755
index 0000000000..5140391401
Binary files /dev/null and b/boards/mro/x21/extras/px4_io-v2_default.bin differ
diff --git a/boards/mro/x21/init/rc.board_defaults b/boards/mro/x21/init/rc.board_defaults
index 5d576dd747..e9fecd78a8 100644
--- a/boards/mro/x21/init/rc.board_defaults
+++ b/boards/mro/x21/init/rc.board_defaults
@@ -5,3 +5,5 @@
 
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
+
+param set-default SYS_USE_IO 1
diff --git a/boards/px4/fmu-v2/init/rc.board_defaults b/boards/px4/fmu-v2/init/rc.board_defaults
index 65348c4f84..e9fecd78a8 100644
--- a/boards/px4/fmu-v2/init/rc.board_defaults
+++ b/boards/px4/fmu-v2/init/rc.board_defaults
@@ -6,3 +6,4 @@
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
 
+param set-default SYS_USE_IO 1
diff --git a/boards/px4/fmu-v3/init/rc.board_defaults b/boards/px4/fmu-v3/init/rc.board_defaults
index 65348c4f84..e9fecd78a8 100644
--- a/boards/px4/fmu-v3/init/rc.board_defaults
+++ b/boards/px4/fmu-v3/init/rc.board_defaults
@@ -6,3 +6,4 @@
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
 
+param set-default SYS_USE_IO 1
diff --git a/boards/px4/fmu-v4pro/init/rc.board_defaults b/boards/px4/fmu-v4pro/init/rc.board_defaults
index 8dd9df28d5..42378a19d7 100644
--- a/boards/px4/fmu-v4pro/init/rc.board_defaults
+++ b/boards/px4/fmu-v4pro/init/rc.board_defaults
@@ -13,4 +13,6 @@ param set-default BAT2_A_PER_V 26.4
 param set-default EKF2_MULTI_IMU 2
 param set-default SENS_IMU_MODE 0
 
+param set-default SYS_USE_IO 1
+
 set LOGGER_BUF 64
diff --git a/boards/px4/fmu-v5/init/rc.board_defaults b/boards/px4/fmu-v5/init/rc.board_defaults
index b88ad0245e..67829cee28 100644
--- a/boards/px4/fmu-v5/init/rc.board_defaults
+++ b/boards/px4/fmu-v5/init/rc.board_defaults
@@ -9,6 +9,13 @@ param set-default BAT2_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
 
+if ver hwtypecmp V5004000 V5006000
+then
+	param set-default SYS_USE_IO 0
+else
+	param set-default SYS_USE_IO 1
+fi
+
 if ver hwtypecmp V5005000 V5005002 V5006000 V5006002
 then
 	# CUAV V5+ (V550/V552) and V5nano (V560/V562) have 3 IMUs
diff --git a/boards/px4/fmu-v5x/init/rc.board_defaults b/boards/px4/fmu-v5x/init/rc.board_defaults
index a7d844a366..ba812e4b7b 100644
--- a/boards/px4/fmu-v5x/init/rc.board_defaults
+++ b/boards/px4/fmu-v5x/init/rc.board_defaults
@@ -16,4 +16,6 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1
 
+param set-default SYS_USE_IO 1
+
 safety_button start
diff --git a/boards/px4/fmu-v6c/init/rc.board_defaults b/boards/px4/fmu-v6c/init/rc.board_defaults
index f7dd269721..6418e5836d 100644
--- a/boards/px4/fmu-v6c/init/rc.board_defaults
+++ b/boards/px4/fmu-v6c/init/rc.board_defaults
@@ -9,3 +9,5 @@ param set-default BAT2_V_DIV 18.1
 
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
+
+param set-default SYS_USE_IO 1
diff --git a/boards/px4/fmu-v6x/init/rc.board_defaults b/boards/px4/fmu-v6x/init/rc.board_defaults
index a7d844a366..ba812e4b7b 100644
--- a/boards/px4/fmu-v6x/init/rc.board_defaults
+++ b/boards/px4/fmu-v6x/init/rc.board_defaults
@@ -16,4 +16,6 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1
 
+param set-default SYS_USE_IO 1
+
 safety_button start
diff --git a/boards/sky-drones/smartap-airlink/init/rc.board_defaults b/boards/sky-drones/smartap-airlink/init/rc.board_defaults
index 14270fc9df..c581f8c741 100644
--- a/boards/sky-drones/smartap-airlink/init/rc.board_defaults
+++ b/boards/sky-drones/smartap-airlink/init/rc.board_defaults
@@ -25,6 +25,7 @@ param set-default BAT_V_OFFS_CURR 0.413
 # Disable safety switch
 param set-default CBRK_IO_SAFETY 22027
 
+param set-default SYS_USE_IO 1
 
 safety_button start
 
diff --git a/boards/spracing/h7extreme/init/rc.board_defaults b/boards/spracing/h7extreme/init/rc.board_defaults
index e154e34980..34177ec437 100644
--- a/boards/spracing/h7extreme/init/rc.board_defaults
+++ b/boards/spracing/h7extreme/init/rc.board_defaults
@@ -19,5 +19,3 @@ param set-default ATT_W_ACC 0.4000
 param set-default ATT_W_GYRO_BIAS 0.0000
 
 param set-default SYS_HAS_MAG 0
-
-param set-default DSHOT_CONFIG 600
diff --git a/posix-configs/SITL/init/test/test_shutdown b/posix-configs/SITL/init/test/test_shutdown
index 6cc691ebaa..7a66bb4577 100644
--- a/posix-configs/SITL/init/test/test_shutdown
+++ b/posix-configs/SITL/init/test/test_shutdown
@@ -33,7 +33,7 @@ fw_pos_control_l1 start vtol
 fw_att_control start vtol
 airspeed_selector start
 
-#mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
+control_allocator start
 
 ver all
 
diff --git a/posix-configs/bbblue/px4.config b/posix-configs/bbblue/px4.config
index 80c0b18d72..7ae7ed0f27 100644
--- a/posix-configs/bbblue/px4.config
+++ b/posix-configs/bbblue/px4.config
@@ -82,8 +82,8 @@ sleep 1
 # RC port is mapped to /dev/ttyS4 (auto-detected)
 #rc_input start -d /dev/ttyS4
 
+control_allocator start
 linux_pwm_out start
-mixer load /dev/pwm_out etc/mixers/quad_x.main.mix
 
 logger start -t -b 200
 
diff --git a/posix-configs/bbblue/px4_fw.config b/posix-configs/bbblue/px4_fw.config
index 4097e7e035..7e3d6f0e74 100644
--- a/posix-configs/bbblue/px4_fw.config
+++ b/posix-configs/bbblue/px4_fw.config
@@ -77,8 +77,8 @@ sleep 1
 # RC port is mapped to /dev/ttyS4 (auto-detected)
 rc_input start -d /dev/ttyS4
 
+control_allocator start
 linux_pwm_out start
-mixer load /dev/pwm_out etc/mixers/AETRFG.main.mix
 
 logger start -t -b 200
 
diff --git a/posix-configs/rpi/pilotpi_fw.config b/posix-configs/rpi/pilotpi_fw.config
index 01807d0d60..7235007931 100644
--- a/posix-configs/rpi/pilotpi_fw.config
+++ b/posix-configs/rpi/pilotpi_fw.config
@@ -42,7 +42,7 @@ ads1115 start -I
 
 # PWM
 pca9685_pwm_out start
-mixer load /dev/pwm_output0 etc/mixers/AAERTWF.main.mix
+control_allocator start
 
 # external GPS & compass
 gps start -d /dev/ttySC0 -i uart -p ubx -s
diff --git a/posix-configs/rpi/pilotpi_mc.config b/posix-configs/rpi/pilotpi_mc.config
index 7a4807fad5..9c037597c7 100644
--- a/posix-configs/rpi/pilotpi_mc.config
+++ b/posix-configs/rpi/pilotpi_mc.config
@@ -42,7 +42,7 @@ ads1115 start -I
 
 # PWM
 pca9685_pwm_out start
-mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix
+control_allocator start
 
 # external GPS & compass
 gps start -d /dev/ttySC0 -i uart -p ubx -s
diff --git a/posix-configs/rpi/px4.config b/posix-configs/rpi/px4.config
index b6663669e5..3937452583 100644
--- a/posix-configs/rpi/px4.config
+++ b/posix-configs/rpi/px4.config
@@ -57,7 +57,7 @@ fi
 
 navio_sysfs_rc_in start
 linux_pwm_out start
-mixer load /dev/pwm_out etc/mixers/quad_x.main.mix
+control_allocator start
 
 logger start -t -b 200
 
diff --git a/posix-configs/rpi/px4_fw.config b/posix-configs/rpi/px4_fw.config
index 387e0a745a..7e65605bef 100644
--- a/posix-configs/rpi/px4_fw.config
+++ b/posix-configs/rpi/px4_fw.config
@@ -55,7 +55,7 @@ fi
 
 navio_sysfs_rc_in start
 linux_pwm_out start
-mixer load /dev/pwm_out etc/mixers/AETRFG.main.mix
+control_allocator start
 
 logger start -t -b 200
 
diff --git a/posix-configs/rpi/px4_hil.config b/posix-configs/rpi/px4_hil.config
index 802e3c01ec..6554f52d45 100644
--- a/posix-configs/rpi/px4_hil.config
+++ b/posix-configs/rpi/px4_hil.config
@@ -37,7 +37,7 @@ mc_rate_control start
 mavlink start -x -u 14577 -r 1000000 -p
 navio_sysfs_rc_in start
 pwm_out_sim start
-mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix
+control_allocator start
 
 logger start -t -b 200
 
diff --git a/posix-configs/rpi/px4_test.config b/posix-configs/rpi/px4_test.config
index 5b14f185b8..74c6643b3b 100644
--- a/posix-configs/rpi/px4_test.config
+++ b/posix-configs/rpi/px4_test.config
@@ -54,7 +54,7 @@ fi
 
 navio_sysfs_rc_in start
 linux_pwm_out start
-mixer load /dev/pwm_out etc/mixers/quad_x.main.mix
+control_allocator start
 
 logger start -t -f -b 200
 
diff --git a/src/drivers/dshot/DShot.cpp b/src/drivers/dshot/DShot.cpp
index de97422716..2b4acc7cb3 100644
--- a/src/drivers/dshot/DShot.cpp
+++ b/src/drivers/dshot/DShot.cpp
@@ -191,41 +191,6 @@ void DShot::enable_dshot_outputs(const bool enabled)
 				request_stop();
 				return;
 			}
-
-		} else {
-			DShotConfig config = (DShotConfig)_param_dshot_config.get();
-
-			unsigned int dshot_frequency = DSHOT600;
-
-			switch (config) {
-			case DShotConfig::DShot150:
-				dshot_frequency = DSHOT150;
-				break;
-
-			case DShotConfig::DShot300:
-				dshot_frequency = DSHOT300;
-				break;
-
-			case DShotConfig::DShot600:
-				dshot_frequency = DSHOT600;
-				break;
-
-			case DShotConfig::DShot1200:
-				dshot_frequency = DSHOT1200;
-				break;
-
-			default:
-				break;
-			}
-
-			int ret = up_dshot_init(_output_mask, dshot_frequency);
-
-			if (ret < 0) {
-				PX4_ERR("up_dshot_init failed (%i)", ret);
-				return;
-			}
-
-			_output_mask = ret;
 		}
 
 		_outputs_initialized = true;
diff --git a/src/drivers/dshot/DShot.h b/src/drivers/dshot/DShot.h
index 1e2169a810..3bf4e7784f 100644
--- a/src/drivers/dshot/DShot.h
+++ b/src/drivers/dshot/DShot.h
@@ -177,7 +177,6 @@ private:
 	uORB::Publication<vehicle_command_ack_s> _command_ack_pub{ORB_ID(vehicle_command_ack)};
 
 	DEFINE_PARAMETERS(
-		(ParamInt<px4::params::DSHOT_CONFIG>)   _param_dshot_config,
 		(ParamFloat<px4::params::DSHOT_MIN>)    _param_dshot_min,
 		(ParamBool<px4::params::DSHOT_3D_ENABLE>) _param_dshot_3d_enable,
 		(ParamInt<px4::params::DSHOT_3D_DEAD_H>) _param_dshot_3d_dead_h,
diff --git a/src/drivers/dshot/module.yaml b/src/drivers/dshot/module.yaml
index 850aaf69df..edd38edd23 100644
--- a/src/drivers/dshot/module.yaml
+++ b/src/drivers/dshot/module.yaml
@@ -8,24 +8,6 @@ serial_config:
 parameters:
     - group: DShot
       definitions:
-        DSHOT_CONFIG:
-            description:
-                short: Configure DShot
-                long: |
-                    This enables/disables DShot. The different modes define different
-                    speeds, for example DShot150 = 150kb/s. Not all ESCs support all modes.
-
-                    Note: this enables DShot on the FMU outputs. For boards with an IO it is the
-                    AUX outputs.
-            type: enum
-            values:
-                0: Disable (use PWM/Oneshot)
-                150: DShot150
-                300: DShot300
-                600: DShot600
-                1200: DShot1200
-            reboot_required: true
-            default: 0
         DSHOT_MIN:
             description:
                 short: Minimum DShot Motor Output
diff --git a/src/drivers/px4io/px4io_params.c b/src/drivers/px4io/px4io_params.c
index 84385e4216..ef1c1ee6ab 100644
--- a/src/drivers/px4io/px4io_params.c
+++ b/src/drivers/px4io/px4io_params.c
@@ -52,7 +52,7 @@
  * @reboot_required true
  * @group System
  */
-PARAM_DEFINE_INT32(SYS_USE_IO, 1);
+PARAM_DEFINE_INT32(SYS_USE_IO, 0);
 
 /**
  * S.BUS out