diff --git a/Tools/px4airframes/__init__.py b/Tools/px4airframes/__init__.py
index 3a9f1e2c6d..43e82d2643 100644
--- a/Tools/px4airframes/__init__.py
+++ b/Tools/px4airframes/__init__.py
@@ -1 +1 @@
-__all__ = ["srcscanner", "srcparser", "xmlout", "dokuwikiout", "dokuwikirpc"]
\ No newline at end of file
+__all__ = ["srcscanner", "srcparser", "xmlout", "rcout"]
\ No newline at end of file
diff --git a/Tools/px4airframes/rcout.py b/Tools/px4airframes/rcout.py
new file mode 100644
index 0000000000..83bd047560
--- /dev/null
+++ b/Tools/px4airframes/rcout.py
@@ -0,0 +1,55 @@
+from xml.sax.saxutils import escape
+import codecs
+
+class RCOutput():
+    def __init__(self, groups, board):
+        result = (  "#\n"
+                    "#\n"
+                    "#  THIS FILE IS AUTO-GENERATED. DO NOT EDIT!\n"
+                    "#\n"
+                    "#\n"
+                    "# SYS_AUTOSTART = 0 means no autostart (default)\n"
+                    "#\n"
+                    "# AUTOSTART PARTITION:\n"
+                    "#  0    ..   999        Reserved (historical)\n"
+                    "#  1000 ..   1999       Simulation setups\n"
+                    "#  2000 ..   2999       Standard planes\n"
+                    "#  3000 ..   3999       Flying wing\n"
+                    "#  4000 ..   4999       Quadrotor x\n"
+                    "#  5000 ..   5999       Quadrotor +\n"
+                    "#  6000 ..   6999       Hexarotor x\n"
+                    "#  7000 ..   7999       Hexarotor +\n"
+                    "#  8000 ..   8999       Octorotor x\n"
+                    "#  9000 ..   9999       Octorotor +\n"
+                    "# 10000 ..  10999       Quadrotor Wide arm / H frame\n"
+                    "# 11000 ..  11999       Hexa Cox\n"
+                    "# 12000 ..  12999       Octo Cox\n"
+                    "# 13000 ..  13999       VTOL\n"
+                    "# 14000 ..  14999       Tri Y\n"
+                    "\n")
+        for group in groups:
+            result += "# GROUP: %s \n\n" % group.GetName()
+            for param in group.GetParams():
+                name = param.GetName()
+                path = param.GetPath().rsplit('/', 1)[1]
+                id_val = param.GetId()
+                name = param.GetFieldValue("short_desc")
+                long_desc = param.GetFieldValue("long_desc")
+
+                result +=   "#\n"
+                result +=   "# %s\n" % name
+                result +=   "if param compare SYS_AUTOSTART %s\n" % id_val
+                result +=   "then\n"
+                result +=   "    sh /etc/init.d/%s\n" % path
+                result +=   "fi\n"
+
+                #if long_desc is not None:
+                #    result += "# %s\n" % long_desc
+                result += "\n"
+
+            result += "\n"
+        self.output = result;
+
+    def Save(self, filename):
+        with codecs.open(filename, 'w', 'utf-8') as f:
+            f.write(self.output)
diff --git a/Tools/px4airframes/srcparser.py b/Tools/px4airframes/srcparser.py
index 130b0f24cf..699a2cdc3b 100644
--- a/Tools/px4airframes/srcparser.py
+++ b/Tools/px4airframes/srcparser.py
@@ -46,14 +46,18 @@ class Parameter(object):
         # all others == 0 (sorted alphabetically)
     }
 
-    def __init__(self, name, airframe_type, airframe_id, maintainer):
+    def __init__(self, path, name, airframe_type, airframe_id, maintainer):
         self.fields = {}
         self.outputs = {}
+        self.path = path
         self.name = name
         self.type = airframe_type
         self.id = airframe_id
         self.maintainer = maintainer
 
+    def GetPath(self):
+        return self.path
+
     def GetName(self):
         return self.name
 
@@ -259,7 +263,7 @@ class SourceParser(object):
             return False
 
         # We already know this is an airframe config, so add it
-        param = Parameter(airframe_name, airframe_type, airframe_id, maintainer)
+        param = Parameter(path, airframe_name, airframe_type, airframe_id, maintainer)
 
         # Done with file, store
         for tag in tags:
diff --git a/Tools/px4airframes/xmlout.py b/Tools/px4airframes/xmlout.py
index a70e5dfbd7..427b1090a2 100644
--- a/Tools/px4airframes/xmlout.py
+++ b/Tools/px4airframes/xmlout.py
@@ -50,7 +50,7 @@ class XMLOutput():
             elif (group.GetName() == "Simulation"):
                 xml_group.attrib["image"] = "AirframeSimulation.png"
             else:
-                xml_group.attrib["image"] = "AirframeStandardPlane.png"
+                xml_group.attrib["image"] = ""
             for param in group.GetParams():
                 if (last_param_name == param.GetName() and not board_specific_param_set) or last_param_name != param.GetName():
                     xml_param = ET.SubElement(xml_group, "airframe")
diff --git a/Tools/px_process_airframes.py b/Tools/px_process_airframes.py
index 50aaa699ef..7d7d28a2b2 100755
--- a/Tools/px_process_airframes.py
+++ b/Tools/px_process_airframes.py
@@ -46,7 +46,7 @@ from __future__ import print_function
 import sys
 import os
 import argparse
-from px4airframes import srcscanner, srcparser, xmlout
+from px4airframes import srcscanner, srcparser, xmlout, rcout
 
 def main():
     # Parse command line arguments
@@ -61,6 +61,11 @@ def main():
                         metavar="FILENAME",
                         help="Create XML file"
                              " (default FILENAME: airframes.xml)")
+    parser.add_argument("-s", "--start-script",
+                        nargs='?',
+                        const="rc.autostart",
+                        metavar="FILENAME",
+                        help="Create start script file")
     parser.add_argument("-b", "--board",
                          nargs='?',
                          const="",
@@ -69,7 +74,7 @@ def main():
     args = parser.parse_args()
 
     # Check for valid command
-    if not (args.xml):
+    if not (args.xml) and not (args.start_script):
         print("Error: You need to specify at least one output method!\n")
         parser.print_usage()
         sys.exit(1)
@@ -93,6 +98,11 @@ def main():
         out = xmlout.XMLOutput(param_groups, args.board)
         out.Save(args.xml)
 
+    if args.start_script:
+        print("Creating start script " + args.start_script)
+        out = rcout.RCOutput(param_groups, args.board)
+        out.Save(args.start_script)
+
     print("All done!")