diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone
index fa9b9d18a1..d6b2319f94 100644
--- a/ROMFS/px4fmu_common/init.d/4008_ardrone
+++ b/ROMFS/px4fmu_common/init.d/4008_ardrone
@@ -3,6 +3,8 @@
 # ARDrone
 #
 
+echo "[init] 4008_ardrone: PX4FMU on PX4IOAR carrier board"
+
 # Just use the default multicopter settings.
 sh /etc/init.d/rc.mc_defaults
 
@@ -29,12 +31,6 @@ then
     param save
 fi
 
-set FMU_MODE gpio
-
-#
-# Force some key parameters to sane values
-# MAV_TYPE     2 = quadrotor
-#
-set MAV_TYPE 2
-set VEHICLE_TYPE mc
-param set BAT_V_SCALING 0.008381
+set FMU_MODE gpio_serial
+set OUTPUT_MODE fmu
+set ARDRONE yes
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 76f021e339..af78162ed5 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -397,8 +397,10 @@ then
 			set EXIT_ON_END yes
 		else
 			# Start MAVLink on default port: ttyS1
-			mavlink start
+			mavlink start -d /dev/ttyS0
 			usleep 5000
+
+			set EXIT_ON_END yes
 		fi
 	fi
 	
@@ -427,6 +429,14 @@ then
 		gps start
 	fi
 	
+	#
+	# Start up ARDrone Motor interface
+	#
+	if [ $ARDRONE == yes ]
+	then
+		ardrone_interface start -d /dev/ttyS1
+	fi
+
 	#
 	# Fixed wing setup
 	#
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 0fbd849243..a70ff6c5c5 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -1714,7 +1714,7 @@ fmu_main(int argc, char *argv[])
 	}
 
 
-	fprintf(stderr, "FMU: unrecognised command, try:\n");
+	fprintf(stderr, "FMU: unrecognised command %s, try:\n", verb);
 #if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 	fprintf(stderr, "  mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, test\n");
 #elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)