diff --git a/posix-configs/rpi/mainapp.config b/posix-configs/rpi/mainapp.config
new file mode 100644
index 0000000000..003fb52c44
--- /dev/null
+++ b/posix-configs/rpi/mainapp.config
@@ -0,0 +1,27 @@
+uorb start
+param set SYS_AUTOSTART 4001
+param set MAV_BROADCAST 1
+sleep 1
+param set MAV_TYPE 2
+df_lsm9ds1_wrapper start -R 4
+#df_mpu9250_wrapper start -R 10
+#df_hmc5883_wrapper start
+df_ms5611_wrapper start
+gps start -d /dev/pts/0
+sensors start
+commander start
+attitude_estimator_q start
+position_estimator_inav start
+land_detector start multicopter
+mc_pos_control start
+mc_att_control start
+mavlink start -u 14556 -r 1000000
+sleep 1
+mavlink stream -u 14556 -s HIGHRES_IMU -r 50
+mavlink stream -u 14556 -s ATTITUDE -r 50
+mavlink start -d /dev/ttyUSB0
+mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 50
+mavlink stream -d /dev/ttyUSB0 -s ATTITUDE -r 50
+navio_sysfs_rc_in start
+navio_sysfs_pwm_out start
+mavlink boot_complete
\ No newline at end of file