diff --git a/ROMFS/px4fmu_common/init.d/rc.custom_io_esc b/ROMFS/px4fmu_common/init.d/rc.custom_io_esc
index e645d9d549..999422767a 100644
--- a/ROMFS/px4fmu_common/init.d/rc.custom_io_esc
+++ b/ROMFS/px4fmu_common/init.d/rc.custom_io_esc
@@ -62,19 +62,6 @@ then
 	usleep 5000
 
 	sh /etc/init.d/rc.io
-
-	if [ $ESC_MAKER = afro ]
-	then
-		# Set PWM values for Afro ESCs
-		px4io idle 1050 1050 1050 1050 
-		px4io min 1080 1080 1080 1080
-		px4io max 1860 1860 1860 1860
-	else
-		# Set PWM values for typical ESCs
-        	px4io idle 900 900 900 900
-        	px4io min 1110 1100 1100 1100
-        	px4io max 1800 1800 1800 1800
-	fi
 else
 	fmu mode_pwm
 	# Start MAVLink (on UART1 / ttyS0)
@@ -84,6 +71,19 @@ else
 	set EXIT_ON_END yes
 fi
 
+if [ $ESC_MAKER = afro ]
+then
+	# Set PWM values for Afro ESCs
+	pwm disarmed -c 1234 -p 1050
+	pwm min -c 1234 -p 1080
+	pwm max -c 1234 -p 1860
+else
+	# Set PWM values for typical ESCs
+	pwm disarmed -c 1234 -p 900
+	pwm min -c 1234 -p 980
+	pwm max -c 1234 -p 1800
+fi
+
 #
 # Load mixer
 #
@@ -105,7 +105,7 @@ fi
 #
 # Set PWM output frequency
 #
-pwm -u 400 -m 0xff
+pwm rate -r 400 -c 1234
 
 #
 # Start common for all multirotors apps