From 9386ab6afedc811bdb30b0d5790688b1a1e8082f Mon Sep 17 00:00:00 2001
From: mcsauder <mcsauder@greypointcorp.com>
Date: Wed, 4 Jul 2018 18:46:13 -0600
Subject: [PATCH] Breakout rc.thermal_cal from rcS and group set/unset
 parameters at the beginning and end of the rcS script. Revert commit
 2a3d66cf457e9b7879276bd01be7936876b56147 to reduce px4fmu-v2_default flash
 size. Standardize tabs/whitespaces across all files in the init.d directory.

---
 .../init.d/13003_quad_tailsitter              |   8 +-
 .../init.d/13004_quad+_tailsitter             |   8 +-
 .../init.d/13009_vtol_spt_ranger              | 112 ++++-----
 ROMFS/px4fmu_common/init.d/13012_convergence  |  96 ++++----
 ROMFS/px4fmu_common/init.d/14001_tri_y_yaw+   |   1 -
 ROMFS/px4fmu_common/init.d/2105_maja          |  26 +--
 ROMFS/px4fmu_common/init.d/2106_albatross     |  26 +--
 ROMFS/px4fmu_common/init.d/3035_viper         |   1 -
 .../init.d/3037_parrot_disco_mod              |  16 +-
 ROMFS/px4fmu_common/init.d/4002_quad_x_mount  |   1 -
 ROMFS/px4fmu_common/init.d/4013_bebop         |  28 +--
 ROMFS/px4fmu_common/init.d/4030_3dr_solo      | 122 +++++-----
 ROMFS/px4fmu_common/init.d/4040_reaper        |  30 +--
 ROMFS/px4fmu_common/init.d/4900_crazyflie     |  80 +++----
 ROMFS/px4fmu_common/init.d/CMakeLists.txt     |   1 +
 ROMFS/px4fmu_common/init.d/rc.thermal_cal     |  40 ++++
 ROMFS/px4fmu_common/init.d/rcS                | 213 +++++++++---------
 cmake/configs/nuttx_px4fmu-v2_default.cmake   |   2 +-
 18 files changed, 426 insertions(+), 385 deletions(-)
 create mode 100644 ROMFS/px4fmu_common/init.d/rc.thermal_cal

diff --git a/ROMFS/px4fmu_common/init.d/13003_quad_tailsitter b/ROMFS/px4fmu_common/init.d/13003_quad_tailsitter
index ae820f6224..a96cb3ff73 100644
--- a/ROMFS/px4fmu_common/init.d/13003_quad_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/13003_quad_tailsitter
@@ -12,10 +12,10 @@ sh /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF == yes ]
 then
-    param set VT_MOT_COUNT 4
-    param set VT_IDLE_PWM_MC  1080
-    param set VT_TYPE 0
-    param set VT_ELEV_MC_LOCK 1
+	param set VT_MOT_COUNT 4
+	param set VT_IDLE_PWM_MC  1080
+	param set VT_TYPE 0
+	param set VT_ELEV_MC_LOCK 1
 fi
 
 set MIXER quad_x_vtol
diff --git a/ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter b/ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter
index fa78638b52..26f2a42a07 100644
--- a/ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter
@@ -23,10 +23,10 @@ sh /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF == yes ]
 then
-    param set VT_MOT_COUNT 4
-    param set VT_IDLE_PWM_MC  1080
-    param set VT_TYPE 0
-    param set VT_ELEV_MC_LOCK 1
+	param set VT_MOT_COUNT 4
+	param set VT_IDLE_PWM_MC  1080
+	param set VT_TYPE 0
+	param set VT_ELEV_MC_LOCK 1
 fi
 
 set MIXER quad_+_vtol
diff --git a/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger b/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger
index ee8e73b917..7dc69193eb 100644
--- a/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger
+++ b/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger
@@ -12,68 +12,68 @@ sh /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF == yes ]
 then
-    param set VT_TYPE 2
-    param set VT_MOT_COUNT 4
-    param set VT_IDLE_PWM_MC 1180
-    param set MAV_TYPE    22
-    param set VT_ARSP_TRANS   15.0
-    param set VT_B_TRANS_DUR  4.0
-    param set VT_TRANS_MIN_TM 5.0
-    param set VT_F_TRANS_THR    0.6
-    param set VT_TRANS_TIMEOUT    30.0
+	param set VT_TYPE 2
+	param set VT_MOT_COUNT 4
+	param set VT_IDLE_PWM_MC 1180
+	param set MAV_TYPE    22
+	param set VT_ARSP_TRANS   15.0
+	param set VT_B_TRANS_DUR  4.0
+	param set VT_TRANS_MIN_TM 5.0
+	param set VT_F_TRANS_THR    0.6
+	param set VT_TRANS_TIMEOUT    30.0
 
-    param set FW_AIRSPD_MAX   22.0
-    param set FW_AIRSPD_MIN   14.0
-    param set FW_AIRSPD_TRIM  16.0
-    param set FW_L1_PERIOD    25.0
-    param set FW_PR_P 0.060
-    param set FW_P_RMAX_NEG   40.0
-    param set FW_P_RMAX_POS   40.0
-    param set FW_RR_FF    0.4
-    param set FW_RR_P 0.04
-    param set FW_R_RMAX   40.0
+	param set FW_AIRSPD_MAX   22.0
+	param set FW_AIRSPD_MIN   14.0
+	param set FW_AIRSPD_TRIM  16.0
+	param set FW_L1_PERIOD    25.0
+	param set FW_PR_P 0.060
+	param set FW_P_RMAX_NEG   40.0
+	param set FW_P_RMAX_POS   40.0
+	param set FW_RR_FF    0.4
+	param set FW_RR_P 0.04
+	param set FW_R_RMAX   40.0
 
-    param set MC_PITCHRATE_D  0.004
-    param set MC_PITCHRATE_I  0.0
-    param set MC_PITCHRATE_MAX    60.0
-    param set MC_PITCHRATE_P  0.21
-    param set MC_PITCH_P  4.0
-    param set MC_ROLLRATE_D   0.004
-    param set MC_ROLLRATE_I   0.002
-    param set MC_ROLLRATE_MAX 60.0
-    param set MC_ROLLRATE_P   0.24
-    param set MC_ROLL_P   4.0
-    param set MC_YAWRATE_I    0.02
-    param set MC_YAWRATE_MAX  40.0
-    param set MC_YAWRATE_P    0.18
-    param set MC_YAWRATE_MAX  40.0
-    param set MC_YAWRAUTO_MAX 40.0
+	param set MC_PITCHRATE_D  0.004
+	param set MC_PITCHRATE_I  0.0
+	param set MC_PITCHRATE_MAX    60.0
+	param set MC_PITCHRATE_P  0.21
+	param set MC_PITCH_P  4.0
+	param set MC_ROLLRATE_D   0.004
+	param set MC_ROLLRATE_I   0.002
+	param set MC_ROLLRATE_MAX 60.0
+	param set MC_ROLLRATE_P   0.24
+	param set MC_ROLL_P   4.0
+	param set MC_YAWRATE_I    0.02
+	param set MC_YAWRATE_MAX  40.0
+	param set MC_YAWRATE_P    0.18
+	param set MC_YAWRATE_MAX  40.0
+	param set MC_YAWRAUTO_MAX 40.0
 
-    param set MIS_TAKEOFF_ALT 2.5
-    param set MIS_YAW_TMT 20.0
+	param set MIS_TAKEOFF_ALT 2.5
+	param set MIS_YAW_TMT 20.0
 
-    param set MPC_ACC_HOR_MAX 1.0
-    param set MPC_HOLD_MAX_XY 0.5
-    param set MPC_HOLD_MAX_Z  0.5
-    param set MPC_LAND_SPEED  1.0
-    param set MPC_MANTHR_MIN  0.05
-    param set MPC_MAN_Y_MAX   120.0
-    param set MPC_THR_MIN 0.07
-    param set MPC_TILTMAX_AIR 35.0
-    param set MPC_TILTMAX_LND 20.0
-    param set MPC_TKO_SPEED   1.0
-    param set MPC_XY_P    0.3
-    param set MPC_XY_VEL_MAX  3.0
-    param set MPC_XY_VEL_P    0.05
-    param set MPC_Z_P 0.5
-    param set MPC_Z_VEL_P 0.1
+	param set MPC_ACC_HOR_MAX 1.0
+	param set MPC_HOLD_MAX_XY 0.5
+	param set MPC_HOLD_MAX_Z  0.5
+	param set MPC_LAND_SPEED  1.0
+	param set MPC_MANTHR_MIN  0.05
+	param set MPC_MAN_Y_MAX   120.0
+	param set MPC_THR_MIN 0.07
+	param set MPC_TILTMAX_AIR 35.0
+	param set MPC_TILTMAX_LND 20.0
+	param set MPC_TKO_SPEED   1.0
+	param set MPC_XY_P    0.3
+	param set MPC_XY_VEL_MAX  3.0
+	param set MPC_XY_VEL_P    0.05
+	param set MPC_Z_P 0.5
+	param set MPC_Z_VEL_P 0.1
 
-    param set NAV_ACC_RAD 3.0
+	param set NAV_ACC_RAD 3.0
 
-    param set PWM_AUX_REV1    1
-    param set PWM_AUX_REV2    1
-    param set PWM_AUX_REV3    1
-    param set PWM_AUX_REV4    1
+	param set PWM_AUX_REV1    1
+	param set PWM_AUX_REV2    1
+	param set PWM_AUX_REV3    1
+	param set PWM_AUX_REV4    1
 fi
 
 set MIXER quad_x
diff --git a/ROMFS/px4fmu_common/init.d/13012_convergence b/ROMFS/px4fmu_common/init.d/13012_convergence
index d70f09ac7e..416ea45074 100644
--- a/ROMFS/px4fmu_common/init.d/13012_convergence
+++ b/ROMFS/px4fmu_common/init.d/13012_convergence
@@ -21,59 +21,59 @@ sh /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF == yes ]
 then
-    param set VT_MOT_COUNT 3
-    param set VT_FW_MOT_OFFID 3
-    param set VT_IDLE_PWM_MC 1200
-    param set VT_TYPE 1
+	param set VT_MOT_COUNT 3
+	param set VT_FW_MOT_OFFID 3
+	param set VT_IDLE_PWM_MC 1200
+	param set VT_TYPE 1
 
-    param set VT_B_TRANS_DUR  1.0
-    param set VT_FW_DIFTHR_EN 1
-    param set VT_FW_DIFTHR_SC 0.17
-    param set VT_FW_PERM_STAB 0
-    param set VT_F_TRANS_DUR  1.2
-    param set VT_F_TR_OL_TM   4.0
-    param set VT_TILT_FW  1.0
-    param set VT_TILT_MC  0.0
-    param set VT_TILT_TRANS   0.45
-    param set VT_TRANS_MIN_TM 1.2
-    param set VT_TRANS_P2_DUR 1.3
+	param set VT_B_TRANS_DUR  1.0
+	param set VT_FW_DIFTHR_EN 1
+	param set VT_FW_DIFTHR_SC 0.17
+	param set VT_FW_PERM_STAB 0
+	param set VT_F_TRANS_DUR  1.2
+	param set VT_F_TR_OL_TM   4.0
+	param set VT_TILT_FW  1.0
+	param set VT_TILT_MC  0.0
+	param set VT_TILT_TRANS   0.45
+	param set VT_TRANS_MIN_TM 1.2
+	param set VT_TRANS_P2_DUR 1.3
 
-    param set FW_L1_PERIOD 17
-    param set FW_MAN_R_MAX 50.0
-    param set FW_ACRO_X_MAX   270
-    param set FW_ACRO_Y_MAX   270
-    param set FW_ACRO_Z_MAX   180
-    param set FW_PR_FF    0.5
-    param set FW_PR_P 0.08
-    param set FW_PSP_OFF  5.0
-    param set FW_P_LIM_MAX    30
-    param set FW_P_LIM_MIN    -30
-    param set FW_P_RMAX_NEG   60
-    param set FW_P_RMAX_POS   60
-    param set FW_RR_FF    0.33
-    param set FW_RR_P 0.11
-    param set FW_YR_FF    0.3
-    param set FW_YR_P 0.05
-    param set MC_PITCHRATE_D  0.003
-    param set MC_PITCHRATE_P  0.15
-    param set MC_PITCH_P  6.0
-    param set MC_ROLLRATE_D   0.003
-    param set MC_ROLLRATE_P   0.15
-    param set MC_ROLL_P   6.0
-    param set MC_YAWRATE_MAX  120
-    param set MC_YAWRATE_P    0.27
-    param set MC_YAW_FF   0.35
-    param set MC_YAW_P    2.5
+	param set FW_L1_PERIOD 17
+	param set FW_MAN_R_MAX 50.0
+	param set FW_ACRO_X_MAX   270
+	param set FW_ACRO_Y_MAX   270
+	param set FW_ACRO_Z_MAX   180
+	param set FW_PR_FF    0.5
+	param set FW_PR_P 0.08
+	param set FW_PSP_OFF  5.0
+	param set FW_P_LIM_MAX    30
+	param set FW_P_LIM_MIN    -30
+	param set FW_P_RMAX_NEG   60
+	param set FW_P_RMAX_POS   60
+	param set FW_RR_FF    0.33
+	param set FW_RR_P 0.11
+	param set FW_YR_FF    0.3
+	param set FW_YR_P 0.05
+	param set MC_PITCHRATE_D  0.003
+	param set MC_PITCHRATE_P  0.15
+	param set MC_PITCH_P  6.0
+	param set MC_ROLLRATE_D   0.003
+	param set MC_ROLLRATE_P   0.15
+	param set MC_ROLL_P   6.0
+	param set MC_YAWRATE_MAX  120
+	param set MC_YAWRATE_P    0.27
+	param set MC_YAW_FF   0.35
+	param set MC_YAW_P    2.5
 
-    param set MC_YAWRATE_P 0.3
-    param set MPC_LAND_SPEED 1.2
-    param set MPC_TKO_SPEED 2.5
-    param set MPC_Z_VEL_MAX_UP 3.0
+	param set MC_YAWRATE_P 0.3
+	param set MPC_LAND_SPEED 1.2
+	param set MPC_TKO_SPEED 2.5
+	param set MPC_Z_VEL_MAX_UP 3.0
 
-    param set CBRK_AIRSPD_CHK 162128
-    param set FW_ARSP_MODE 2
+	param set CBRK_AIRSPD_CHK 162128
+	param set FW_ARSP_MODE 2
 
-    param set SENS_BOARD_ROT 8
+	param set SENS_BOARD_ROT 8
 fi
 
 set MIXER vtol_convergence
diff --git a/ROMFS/px4fmu_common/init.d/14001_tri_y_yaw+ b/ROMFS/px4fmu_common/init.d/14001_tri_y_yaw+
index d9e6ecc270..04ad1f8c15 100644
--- a/ROMFS/px4fmu_common/init.d/14001_tri_y_yaw+
+++ b/ROMFS/px4fmu_common/init.d/14001_tri_y_yaw+
@@ -18,4 +18,3 @@ sh /etc/init.d/rc.mc_defaults
 set MIXER tri_y_yaw+
 
 set PWM_OUT 1234
-
diff --git a/ROMFS/px4fmu_common/init.d/2105_maja b/ROMFS/px4fmu_common/init.d/2105_maja
index 7a8fd88c4a..e713b37919 100644
--- a/ROMFS/px4fmu_common/init.d/2105_maja
+++ b/ROMFS/px4fmu_common/init.d/2105_maja
@@ -24,22 +24,22 @@ sh /etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF == yes ]
 then
-    param set FW_AIRSPD_MIN 10
-    param set FW_AIRSPD_TRIM 15
-    param set FW_AIRSPD_MAX 20
+	param set FW_AIRSPD_MIN 10
+	param set FW_AIRSPD_TRIM 15
+	param set FW_AIRSPD_MAX 20
 
-    param set FW_MAN_P_MAX 55
-    param set FW_MAN_R_MAX 55
-    param set FW_R_LIM 55
+	param set FW_MAN_P_MAX 55
+	param set FW_MAN_R_MAX 55
+	param set FW_R_LIM 55
 
-    param set FW_WR_FF 0.2
-    param set FW_WR_I 0.2
-    param set FW_WR_IMAX 0.8
-    param set FW_WR_P 1
-    param set FW_W_RMAX 0
+	param set FW_WR_FF 0.2
+	param set FW_WR_I 0.2
+	param set FW_WR_IMAX 0.8
+	param set FW_WR_P 1
+	param set FW_W_RMAX 0
 
-    # set disarmed value for the ESC
-    param set PWM_DISARMED 1000
+	# set disarmed value for the ESC
+	param set PWM_DISARMED 1000
 fi
 
 set MIXER AAERTWF
diff --git a/ROMFS/px4fmu_common/init.d/2106_albatross b/ROMFS/px4fmu_common/init.d/2106_albatross
index edd5f9ef05..c0fe27aa23 100644
--- a/ROMFS/px4fmu_common/init.d/2106_albatross
+++ b/ROMFS/px4fmu_common/init.d/2106_albatross
@@ -25,22 +25,22 @@ sh /etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF == yes ]
 then
-    param set FW_AIRSPD_MIN 10
-    param set FW_AIRSPD_TRIM 15
-    param set FW_AIRSPD_MAX 20
+	param set FW_AIRSPD_MIN 10
+	param set FW_AIRSPD_TRIM 15
+	param set FW_AIRSPD_MAX 20
 
-    param set FW_MAN_P_MAX 55
-    param set FW_MAN_R_MAX 55
-    param set FW_R_LIM 55
+	param set FW_MAN_P_MAX 55
+	param set FW_MAN_R_MAX 55
+	param set FW_R_LIM 55
 
-    param set FW_WR_FF 0.2
-    param set FW_WR_I 0.2
-    param set FW_WR_IMAX 0.8
-    param set FW_WR_P 1
-    param set FW_W_RMAX 0
+	param set FW_WR_FF 0.2
+	param set FW_WR_I 0.2
+	param set FW_WR_IMAX 0.8
+	param set FW_WR_P 1
+	param set FW_W_RMAX 0
 
-    # set disarmed value for the ESC
-    param set PWM_DISARMED 1000
+	# set disarmed value for the ESC
+	param set PWM_DISARMED 1000
 fi
 
 set MIXER AAVVTWFF
diff --git a/ROMFS/px4fmu_common/init.d/3035_viper b/ROMFS/px4fmu_common/init.d/3035_viper
index 1e79b9d19f..9c542af178 100644
--- a/ROMFS/px4fmu_common/init.d/3035_viper
+++ b/ROMFS/px4fmu_common/init.d/3035_viper
@@ -12,4 +12,3 @@
 sh /etc/init.d/rc.fw_defaults
 
 set MIXER Viper
-
diff --git a/ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod b/ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod
index c383c2e589..ba80e5b240 100644
--- a/ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod
+++ b/ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod
@@ -48,32 +48,32 @@ then
 	param set FW_P_LIM_MAX  45
 	param set FW_P_LIM_MIN -45
 	
-	# Time Constant (def = 0.4s)	
+	# Time Constant (def = 0.4s)
 	param set FW_P_TC 0.4
 
 	# Pitch rate feed forward (def = 0.5 %/rad/sec)
 	param set FW_PR_FF 0.35
-	
+
 	# Pitch rate integrator limit (def = 0.4)
 	param set FW_PR_IMAX 0.4
-	
+
 	# Pitch rate proportional gain (def = 0.08 %/rad/sec)
 	param set FW_PR_P 0.08
-	
+
 	####################################
 	# Roll
 	####################################
 
-	# Basic limits (def = 50 deg)	
+	# Basic limits (def = 50 deg)
 	param set FW_R_LIM 40
-	
+
 	# Roll rate upper limit (def = 70 deg/s)
 	param set FW_R_RMAX 50
 
 	# Roll Time Constant (def = 0.4 s)
-	param set FW_R_TC 0.4	
+	param set FW_R_TC 0.4
 	
-	# Roll rate feed forward (def = 0.5 %/rad/sec)	
+	# Roll rate feed forward (def = 0.5 %/rad/sec)
 	param set FW_RR_FF 0.5
 
 	# Roll rate proportional Gain (def = 0.05 %/rad/sec)
diff --git a/ROMFS/px4fmu_common/init.d/4002_quad_x_mount b/ROMFS/px4fmu_common/init.d/4002_quad_x_mount
index d4f7b8b501..c2ddaeb878 100644
--- a/ROMFS/px4fmu_common/init.d/4002_quad_x_mount
+++ b/ROMFS/px4fmu_common/init.d/4002_quad_x_mount
@@ -28,4 +28,3 @@ set PWM_OUT 1234
 set MIXER_AUX mount
 set PWM_AUX_OUT 123456
 set PWM_AUX_RATE 50
-
diff --git a/ROMFS/px4fmu_common/init.d/4013_bebop b/ROMFS/px4fmu_common/init.d/4013_bebop
index b68bf84085..8b23184307 100644
--- a/ROMFS/px4fmu_common/init.d/4013_bebop
+++ b/ROMFS/px4fmu_common/init.d/4013_bebop
@@ -22,20 +22,20 @@ sh /etc/init.d/rc.mc_defaults
 #
 if [ $AUTOCNF == yes ]
 then
-    # Set all params here, then disable autoconfig
-    param set MC_ROLL_P 6.5
-    param set MC_ROLLRATE_P 0.109999999403953552
-    param set MC_ROLLRATE_I 0.0
-    param set MC_ROLLRATE_D 0.0006
-    param set MC_PITCH_P 6.5
-    param set MC_PITCHRATE_P 0.1
-    param set MC_PITCHRATE_I 0.0
-    param set MC_PITCHRATE_D 0.000799999
-    param set MC_YAW_P 1.049999
-    param set MC_YAWRATE_P 0.05
-    param set MC_YAWRATE_I 0.001
-    param set MC_YAWRATE_D 0.0
-    param set MC_YAW_FF 0.7
+	# Set all params here, then disable autoconfig
+	param set MC_ROLL_P 6.5
+	param set MC_ROLLRATE_P 0.109999999403953552
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.0006
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.000799999
+	param set MC_YAW_P 1.049999
+	param set MC_YAWRATE_P 0.05
+	param set MC_YAWRATE_I 0.001
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.7
 fi
 
 set OUTPUT_MODE bebop
diff --git a/ROMFS/px4fmu_common/init.d/4030_3dr_solo b/ROMFS/px4fmu_common/init.d/4030_3dr_solo
index ce02c41e14..aa1ff52820 100644
--- a/ROMFS/px4fmu_common/init.d/4030_3dr_solo
+++ b/ROMFS/px4fmu_common/init.d/4030_3dr_solo
@@ -18,72 +18,72 @@ sh /etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF == yes ]
 then
-    # tuning
-    param set MC_PITCHRATE_P    0.11
-    param set MC_ROLLRATE_P     0.11
-    param set MPC_MANTHR_MIN    0.08
-    param set MPC_XY_VEL_MAX    3.0
-    param set MPC_Z_VEL_MAX_DN     2.0
+	# tuning
+	param set MC_PITCHRATE_P    0.11
+	param set MC_ROLLRATE_P     0.11
+	param set MPC_MANTHR_MIN    0.08
+	param set MPC_XY_VEL_MAX    3.0
+	param set MPC_Z_VEL_MAX_DN     2.0
 
-    # INAV: higher GPS weights for better altitude control
-    param set INAV_W_Z_BARO     0.3
-    param set INAV_W_Z_GPS_P    0.8
-    param set INAV_W_Z_GPS_V    0.8
+	# INAV: higher GPS weights for better altitude control
+	param set INAV_W_Z_BARO     0.3
+	param set INAV_W_Z_GPS_P    0.8
+	param set INAV_W_Z_GPS_V    0.8
 
-    # takeoff, land and RTL settings
-    param set MIS_TAKEOFF_ALT   4.0
-    param set COM_DISARM_LAND   1
-    param set RTL_LAND_DELAY    1
-    param set RTL_DESCEND_ALT   5.0
-    param set RTL_RETURN_ALT    15.0
-    param set MPC_TILTMAX_LND   8.0
-    param set MPC_LAND_SPEED    0.4
-    param set MPC_HOLD_MAX_Z    1.5
-    param set MPC_TKO_JMPSPD    2.0
-    param set MPC_TKO_SPEED     1.5
+	# takeoff, land and RTL settings
+	param set MIS_TAKEOFF_ALT   4.0
+	param set COM_DISARM_LAND   1
+	param set RTL_LAND_DELAY    1
+	param set RTL_DESCEND_ALT   5.0
+	param set RTL_RETURN_ALT    15.0
+	param set MPC_TILTMAX_LND   8.0
+	param set MPC_LAND_SPEED    0.4
+	param set MPC_HOLD_MAX_Z    1.5
+	param set MPC_TKO_JMPSPD    2.0
+	param set MPC_TKO_SPEED     1.5
 
-    # setup
-    # main board rotation: pitch 180
-    param set SENS_BOARD_ROT    12
-    # solo external mag rotation
-    param set CAL_MAG0_ROT      30
-    # no safety switch
-    param set CBRK_IO_SAFETY    22027
-    # battery voltage not available yet
-    param set CBRK_SUPPLY_CHK   894281
+	# setup
+	# main board rotation: pitch 180
+	param set SENS_BOARD_ROT    12
+	# solo external mag rotation
+	param set CAL_MAG0_ROT      30
+	# no safety switch
+	param set CBRK_IO_SAFETY    22027
+	# battery voltage not available yet
+	param set CBRK_SUPPLY_CHK   894281
 
-    # RC configuration
-    param set RC_MAP_MODE_SW    5
-    param set RC_MAP_PITCH      2
-    param set RC_MAP_ROLL       1
-    param set RC_MAP_THROTTLE   3
-    param set RC_MAP_YAW        4
+	# RC configuration
+	param set RC_MAP_MODE_SW    5
+	param set RC_MAP_PITCH      2
+	param set RC_MAP_ROLL       1
+	param set RC_MAP_THROTTLE   3
+	param set RC_MAP_YAW        4
 
-    param set RC1_DZ            10
-    param set RC1_MAX           1988
-    param set RC1_MIN           1003
-    param set RC1_REV           1
-    param set RC1_TRIM          1499
-    param set RC2_DZ            10
-    param set RC2_MAX           1987
-    param set RC2_MIN           1023
-    param set RC2_REV           -1
-    param set RC2_TRIM          1499
-    param set RC3_DZ            10
-    param set RC3_MAX           1877
-    param set RC3_MIN           1023
-    param set RC3_REV           1
-    param set RC3_TRIM          1023
-    param set RC4_DZ            10
-    param set RC4_MAX           1998
-    param set RC4_MIN           1012
-    param set RC4_REV           1
-    param set RC4_TRIM          1500
-    param set RC5_DZ            10
-    param set RC5_MAX           2000
-    param set RC5_MIN           1000
-    param set RC5_REV           1
-    param set RC5_TRIM          1500
+	param set RC1_DZ            10
+	param set RC1_MAX           1988
+	param set RC1_MIN           1003
+	param set RC1_REV           1
+	param set RC1_TRIM          1499
+	param set RC2_DZ            10
+	param set RC2_MAX           1987
+	param set RC2_MIN           1023
+	param set RC2_REV           -1
+	param set RC2_TRIM          1499
+	param set RC3_DZ            10
+	param set RC3_MAX           1877
+	param set RC3_MIN           1023
+	param set RC3_REV           1
+	param set RC3_TRIM          1023
+	param set RC4_DZ            10
+	param set RC4_MAX           1998
+	param set RC4_MIN           1012
+	param set RC4_REV           1
+	param set RC4_TRIM          1500
+	param set RC5_DZ            10
+	param set RC5_MAX           2000
+	param set RC5_MIN           1000
+	param set RC5_REV           1
+	param set RC5_TRIM          1500
 fi
 
 set MIXER quad_x
diff --git a/ROMFS/px4fmu_common/init.d/4040_reaper b/ROMFS/px4fmu_common/init.d/4040_reaper
index b048604ef0..f825a179d4 100644
--- a/ROMFS/px4fmu_common/init.d/4040_reaper
+++ b/ROMFS/px4fmu_common/init.d/4040_reaper
@@ -19,23 +19,23 @@ sh /etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF == yes ]
 then
-    param set MC_ROLL_P 6.5
-    param set MC_ROLLRATE_P 0.14
-    param set MC_ROLLRATE_I 0.1
-    param set MC_ROLLRATE_D 0.004
-    param set MC_PITCH_P 6.0
-    param set MC_PITCHRATE_P 0.14
-    param set MC_PITCHRATE_I 0.09
-    param set MC_PITCHRATE_D 0.004
-    param set MC_YAW_P 4
+	param set MC_ROLL_P 6.5
+	param set MC_ROLLRATE_P 0.14
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLLRATE_D 0.004
+	param set MC_PITCH_P 6.0
+	param set MC_PITCHRATE_P 0.14
+	param set MC_PITCHRATE_I 0.09
+	param set MC_PITCHRATE_D 0.004
+	param set MC_YAW_P 4
 
-    param set NAV_ACC_RAD 2.0
-    param set RTL_RETURN_ALT 30.0
-    param set RTL_DESCEND_ALT 10.0
+	param set NAV_ACC_RAD 2.0
+	param set RTL_RETURN_ALT 30.0
+	param set RTL_DESCEND_ALT 10.0
 
-    param set PWM_MIN 1100
-    param set PWM_MAX 1900
-    param set PWM_AUX_DISARMED 950
+	param set PWM_MIN 1100
+	param set PWM_MAX 1900
+	param set PWM_AUX_DISARMED 950
 fi
 
 set MIXER quad_h
diff --git a/ROMFS/px4fmu_common/init.d/4900_crazyflie b/ROMFS/px4fmu_common/init.d/4900_crazyflie
index 08bccdf2f0..8bc6d76b6d 100644
--- a/ROMFS/px4fmu_common/init.d/4900_crazyflie
+++ b/ROMFS/px4fmu_common/init.d/4900_crazyflie
@@ -17,46 +17,46 @@
 sh /etc/init.d/4001_quad_x
 if [ $AUTOCNF == yes ]
 then
-    param set COM_RC_IN_MODE 1
-    param set BAT_N_CELLS 1
-    param set BAT_CAPACITY 240
-    param set BAT_SOURCE 1
-    param set PWM_DISARMED 0
-    param set PWM_MIN 0
-    param set PWM_MAX 255
-    param set SYS_COMPANION 20
-    param set MC_PITCHRATE_D 0.002
-    param set MC_PITCHRATE_I 0.2
-    param set MC_PITCHRATE_P 0.07
-    param set MC_PITCH_P 6.5
-    param set MC_ROLLRATE_D 0.002
-    param set MC_ROLLRATE_I 0.2
-    param set MC_ROLLRATE_P 0.07
-    param set MC_ROLL_P 6.5
-    param set MC_YAW_P 3.0
-    param set EKF2_HGT_MODE 2
-    param set EKF2_AID_MASK 3
-    param set EKF2_OF_DELAY 10
-    param set MPC_THR_HOVER 0.7
-    param set MPC_MANTHR_MAX 1.0
-    param set MPC_THR_MAX 1.0
-    param set MPC_Z_P 1.5
-    param set MPC_Z_VEL_I 0.3
-    param set MPC_Z_VEL_P 0.4
-    param set MPC_HOLD_MAX_XY 0.1
-    param set MPC_MAX_FLOW_HGT 3
-    param set IMU_GYRO_CUTOFF 100
-    param set IMU_ACCEL_CUTOFF 30
-    param set MC_DTERM_CUTOFF 70
-    param set SYS_FMU_TASK 1
-    param set CBRK_SUPPLY_CHK 894281
-    param set CBRK_USB_CHK 197848
-    param set SDLOG_PROFILE 1
-    param set EKF2_MAG_TYPE 1
-    param set EKF2_ABL_LIM 2.0
-    param set MC_AIRMODE 1
-    param set NAV_RCL_ACT 3
-    param set SENS_FLOW_MINRNG 0.05
+	param set COM_RC_IN_MODE 1
+	param set BAT_N_CELLS 1
+	param set BAT_CAPACITY 240
+	param set BAT_SOURCE 1
+	param set PWM_DISARMED 0
+	param set PWM_MIN 0
+	param set PWM_MAX 255
+	param set SYS_COMPANION 20
+	param set MC_PITCHRATE_D 0.002
+	param set MC_PITCHRATE_I 0.2
+	param set MC_PITCHRATE_P 0.07
+	param set MC_PITCH_P 6.5
+	param set MC_ROLLRATE_D 0.002
+	param set MC_ROLLRATE_I 0.2
+	param set MC_ROLLRATE_P 0.07
+	param set MC_ROLL_P 6.5
+	param set MC_YAW_P 3.0
+	param set EKF2_HGT_MODE 2
+	param set EKF2_AID_MASK 3
+	param set EKF2_OF_DELAY 10
+	param set MPC_THR_HOVER 0.7
+	param set MPC_MANTHR_MAX 1.0
+	param set MPC_THR_MAX 1.0
+	param set MPC_Z_P 1.5
+	param set MPC_Z_VEL_I 0.3
+	param set MPC_Z_VEL_P 0.4
+	param set MPC_HOLD_MAX_XY 0.1
+	param set MPC_MAX_FLOW_HGT 3
+	param set IMU_GYRO_CUTOFF 100
+	param set IMU_ACCEL_CUTOFF 30
+	param set MC_DTERM_CUTOFF 70
+	param set SYS_FMU_TASK 1
+	param set CBRK_SUPPLY_CHK 894281
+	param set CBRK_USB_CHK 197848
+	param set SDLOG_PROFILE 1
+	param set EKF2_MAG_TYPE 1
+	param set EKF2_ABL_LIM 2.0
+	param set MC_AIRMODE 1
+	param set NAV_RCL_ACT 3
+	param set SENS_FLOW_MINRNG 0.05
 fi
 set PWM_MIN none
 set PWM_MAX none
diff --git a/ROMFS/px4fmu_common/init.d/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/CMakeLists.txt
index faaeb11f21..0f2029c4eb 100644
--- a/ROMFS/px4fmu_common/init.d/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d/CMakeLists.txt
@@ -111,6 +111,7 @@ px4_add_romfs_files(
 	rc.mc_defaults
 	rcS
 	rc.sensors
+	rc.thermal_cal
 	rc.ugv_apps
 	rc.ugv_defaults
 	rc.vtol_apps
diff --git a/ROMFS/px4fmu_common/init.d/rc.thermal_cal b/ROMFS/px4fmu_common/init.d/rc.thermal_cal
new file mode 100644
index 0000000000..88bf8f0b8e
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.thermal_cal
@@ -0,0 +1,40 @@
+#!nsh
+#
+# Thermal Calibration startup script.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+set TEMP_CALIB_ARGS	""
+
+#
+# Determine if a thermal calibration should be started.
+#
+
+if param compare SYS_CAL_ACCEL 1
+then
+	set TEMP_CALIB_ARGS "${TEMP_CALIB_ARGS} -a"
+	param set SYS_CAL_ACCEL 0
+fi
+
+if param compare SYS_CAL_GYRO 1
+then
+	set TEMP_CALIB_ARGS "${TEMP_CALIB_ARGS} -g"
+	param set SYS_CAL_GYRO 0
+fi
+
+if param compare SYS_CAL_BARO 1
+then
+	set TEMP_CALIB_ARGS "${TEMP_CALIB_ARGS} -b"
+	param set SYS_CAL_BARO 0
+fi
+
+#
+# Start the thermal calibration cycle.
+#
+if [ "x$TEMP_CALIB_ARGS" != "x" ]
+then
+	send_event temperature_calibration ${TEMP_CALIB_ARGS}
+fi
+
+unset TEMP_CALIB_ARGS
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index c5f5dc1c45..8a50da0240 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -15,29 +15,70 @@ set +e
 #
 # UART mapping on OMNIBUSF4SD:
 #
-# USART1		/dev/ttyS0		SerialRX
-# USART4		/dev/ttyS1		TELEM1
-# USART6		/dev/ttyS2		GPS
+# USART1                /dev/ttyS0              SerialRX
+# USART4                /dev/ttyS1              TELEM1
+# USART6                /dev/ttyS2              GPS
 #
 # UART mapping on FMUv2/3/4:
 #
-# UART1			/dev/ttyS0		IO debug (except v4, there ttyS0 is the wifi)
-# USART2		/dev/ttyS1		TELEM1 (flow control)
-# USART3		/dev/ttyS2		TELEM2 (flow control)
+# UART1                 /dev/ttyS0              IO debug (except v4, there ttyS0 is the wifi)
+# USART2                /dev/ttyS1              TELEM1 (flow control)
+# USART3                /dev/ttyS2              TELEM2 (flow control)
 # UART4
-# UART7							CONSOLE
-# UART8							SERIAL4
+# UART7                                                 CONSOLE
+# UART8                                                 SERIAL4
 #
 #
 # UART mapping on FMUv5:
 #
-# UART1			/dev/ttyS0		GPS
-# USART2		/dev/ttyS1		TELEM1 (flow control)
-# USART3		/dev/ttyS2		TELEM2 (flow control)
-# UART4			/dev/ttyS3		TELEM4
-# USART6		/dev/ttyS4		TELEM3 (flow control)
-# UART7			/dev/ttyS5		?
-# UART8			/dev/ttyS6		CONSOLE
+# UART1                 /dev/ttyS0              GPS
+# USART2                /dev/ttyS1              TELEM1 (flow control)
+# USART3                /dev/ttyS2              TELEM2 (flow control)
+# UART4                 /dev/ttyS3              TELEM4
+# USART6                /dev/ttyS4              TELEM3 (flow control)
+# UART7                 /dev/ttyS5              ?
+# UART8                 /dev/ttyS6              CONSOLE
+
+#
+# Set default paramter values
+#
+set AUX_MODE                    pwm
+set DATAMAN_OPT                 ""
+set FAILSAFE                    none
+set FAILSAFE_AUX                none
+set FCONFIG                     /fs/microsd/etc/config.txt
+set FEXTRAS                     /fs/microsd/etc/extras.txt
+set FRC                         /fs/microsd/etc/rc.txt
+set FMU_ARGS                    ""
+set FMU_MODE                    pwm
+set IO_FILE                     ""
+set IO_PRESENT                  no
+set LOG_FILE                    /fs/microsd/bootlog.txt
+set LOGGER_BUF                  14
+set MAVLINK_F                   default
+set MAVLINK_COMPANION_DEVICE    /dev/ttyS2
+set MAV_TYPE                    none
+set MIXER                       none
+set MIXER_AUX                   none
+set MK_MODE                     none
+set MKBLCTRL_ARG                ""
+set MODE                        autostart
+set OUTPUT_MODE                 none
+set PARAM_FILE                  /fs/microsd/params
+set PWM_OUT                     none
+set PWM_RATE                    p:PWM_RATE
+set PWM_DISARMED                p:PWM_DISARMED
+set PWM_MIN                     p:PWM_MIN
+set PWM_MAX                     p:PWM_MAX
+set PWM_AUX_OUT                 none
+set PWM_AUX_RATE                none
+set PWM_ACHDIS                  none
+set PWM_AUX_DISARMED            p:PWM_AUX_DISARMED
+set PWM_AUX_MIN                 p:PWM_AUX_MIN
+set PWM_AUX_MAX                 p:PWM_AUX_MAX
+set TUNE_ERR                    "ML<<CP4CP4CP4CP4CP4"
+set USE_IO                      no
+set VEHICLE_TYPE                none
 
 #
 # Mount the procfs.
@@ -52,14 +93,6 @@ sercon
 # print full system version
 ver all
 
-#
-# Default to auto-start mode.
-#
-set MODE autostart
-
-set TUNE_ERR "ML<<CP4CP4CP4CP4CP4"
-set LOG_FILE /fs/microsd/bootlog.txt
-
 #
 # Try to mount the microSD card.
 #
@@ -96,17 +129,14 @@ fi
 # Look for an init script on the microSD card.
 # Disable autostart if the script found.
 #
-set FRC /fs/microsd/etc/rc.txt
 if [ -f $FRC ]
 then
 	sh $FRC
 	set MODE custom
 fi
-unset FRC
 
 if [ $MODE == autostart ]
 then
-
 	#
 	# Start the ORB (first app to start)
 	#
@@ -121,7 +151,6 @@ then
 	#
 	# Load parameters
 	#
-	set PARAM_FILE /fs/microsd/params
 	if mtd start
 	then
 		set PARAM_FILE /fs/mtd_params
@@ -173,36 +202,6 @@ then
 		fi
 	fi
 
-	#
-	# Set default values
-	#
-	set VEHICLE_TYPE none
-	set MIXER none
-	set MIXER_AUX none
-	set OUTPUT_MODE none
-	set PWM_OUT none
-	set PWM_RATE p:PWM_RATE
-	set PWM_DISARMED p:PWM_DISARMED
-	set PWM_MIN p:PWM_MIN
-	set PWM_MAX p:PWM_MAX
-	set PWM_AUX_OUT none
-	set PWM_AUX_RATE none
-	set PWM_ACHDIS none
-	set PWM_AUX_DISARMED p:PWM_AUX_DISARMED
-	set PWM_AUX_MIN p:PWM_AUX_MIN
-	set PWM_AUX_MAX p:PWM_AUX_MAX
-	set FAILSAFE_AUX none
-	set MK_MODE none
-	set FMU_MODE pwm
-	set AUX_MODE pwm
-	set FMU_ARGS ""
-	set MAVLINK_F default
-	set MAVLINK_COMPANION_DEVICE /dev/ttyS2
-	set MAV_TYPE none
-	set FAILSAFE none
-	set USE_IO no
-	set LOGGER_BUF 14
-
 	if ver hwcmp PX4FMU_V5
 	then
 		set LOGGER_BUF 64
@@ -261,7 +260,6 @@ then
 	else
 		sh /etc/init.d/rc.autostart
 	fi
-	unset MODE
 
 	#
 	# If mount (gimbal) control is enabled and output mode is AUX, set the aux
@@ -279,13 +277,11 @@ then
 	#
 	# Override parameters from user configuration file
 	#
-	set FCONFIG /fs/microsd/etc/config.txt
 	if [ -f $FCONFIG ]
 	then
 		echo "Custom: ${FCONFIG}"
 		sh $FCONFIG
 	fi
-	unset FCONFIG
 
 	#
 	# If autoconfig parameter was set, reset it and save parameters
@@ -317,9 +313,6 @@ then
 
 		param set SYS_AUTOCONFIG 0
 	fi
-	unset AUTOCNF
-
-	set IO_PRESENT no
 
 	#
 	# Check if PX4IO present and update firmware if needed
@@ -365,7 +358,6 @@ then
 			fi
 		fi
 	fi
-	unset IO_FILE
 
 	if [ $USE_IO == yes -a $IO_PRESENT == no ]
 	then
@@ -397,7 +389,6 @@ then
 		set FMU_MODE rcin
 	fi
 
-	set DATAMAN_OPT ""
 	if ver hwcmp AEROFC_V1
 	then
 		set DATAMAN_OPT -i
@@ -406,16 +397,19 @@ then
 	then
 		set DATAMAN_OPT "-f /fs/mtd_dataman"
 	fi
+
+	#
 	# waypoint storage
 	# REBOOTWORK this needs to start in parallel
+	#
 	if dataman start $DATAMAN_OPT
 	then
 	fi
-	unset DATAMAN_OPT
 
 	#
 	# Sensors System (start before Commander so Preflight checks are properly run)
 	# commander Needs to be this early for in-air-restarts
+	#
 	if param compare SYS_HITL 1
 	then
 		set OUTPUT_MODE hil
@@ -431,6 +425,7 @@ then
 		sh /etc/init.d/rc.sensors
 		commander start
 	fi
+
 	send_event start
 	load_mon start
 
@@ -501,7 +496,6 @@ then
 
 		if [ $OUTPUT_MODE == mkblctrl ]
 		then
-			set MKBLCTRL_ARG ""
 			if [ $MKBLCTRL_MODE == x ]
 			then
 				set MKBLCTRL_ARG "-mkmode x"
@@ -516,9 +510,7 @@ then
 			else
 				tune_control play -m ${TUNE_ERR}
 			fi
-			unset MKBLCTRL_ARG
 		fi
-		unset MK_MODE
 
 		if [ $OUTPUT_MODE == hil ]
 		then
@@ -587,7 +579,7 @@ then
 			fi
 			if param greater SENS_EN_LEDDAR1 0
 			then
-				set MAVLINK_F none				
+				set MAVLINK_F none
 			fi
 		fi
 
@@ -596,14 +588,13 @@ then
 			# Avoid using either of the two available serials
 			set MAVLINK_F none
 		fi
-fi
+	fi
 
 	if [ "x$MAVLINK_F" == xnone ]
 	then
 	else
 		mavlink start ${MAVLINK_F}
 	fi
-	unset MAVLINK_F
 
 	#
 	# MAVLink onboard / TELEM2
@@ -635,7 +626,7 @@ fi
 				mavlink start -d /dev/mavlink -b 921600 -m onboard -r 5000 -x
 				micrortps_client start -d /dev/rtps -b 921600 -l -1 -s 2000
 			else
-				 mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
+				mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
 			fi
 		else
 			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
@@ -707,8 +698,6 @@ fi
 		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 10000 -x -f
 	fi
 
-	unset MAVLINK_COMPANION_DEVICE
-
 	#
 	# Starting stuff according to UAVCAN_ENABLE value
 	#
@@ -904,10 +893,6 @@ fi
 		sh /etc/init.d/rc.ugv_apps
 	fi
 
-	unset MIXER
-	unset MAV_TYPE
-	unset OUTPUT_MODE
-
 	#
 	# Start the navigator
 	#
@@ -923,13 +908,11 @@ fi
 	fi
 
 	# Start any custom addons
-	set FEXTRAS /fs/microsd/etc/extras.txt
 	if [ -f $FEXTRAS ]
 	then
 		echo "Addons script: ${FEXTRAS}"
 		sh $FEXTRAS
 	fi
-	unset FEXTRAS
 
 	if ver hwcmp CRAZYFLIE
 	then
@@ -940,7 +923,6 @@ fi
 		then
 			# AEROCORE2 shouldn't have an sd card
 		else
-
 			# Run no SD alarm
 			if [ $LOG_FILE == /dev/null ]
 			then
@@ -953,32 +935,13 @@ fi
 	fi
 
 	#
-	# Check if we should start a thermal calibration
-	# TODO move further up and don't start unnecessary services if we are calibrating
+	# Start a thermal calibration if required.
 	#
-	set TEMP_CALIB_ARGS ""
-	if param compare SYS_CAL_GYRO 1
-	then
-		set TEMP_CALIB_ARGS "${TEMP_CALIB_ARGS} -g"
-		param set SYS_CAL_GYRO 0
-	fi
-	if param compare SYS_CAL_ACCEL 1
-	then
-		set TEMP_CALIB_ARGS "${TEMP_CALIB_ARGS} -a"
-		param set SYS_CAL_ACCEL 0
-	fi
-	if param compare SYS_CAL_BARO 1
-	then
-		set TEMP_CALIB_ARGS "${TEMP_CALIB_ARGS} -b"
-		param set SYS_CAL_BARO 0
-	fi
-	if [ "x$TEMP_CALIB_ARGS" != "x" ]
-	then
-		send_event temperature_calibration ${TEMP_CALIB_ARGS}
-	fi
-	unset TEMP_CALIB_ARGS
+	sh /etc/init.d/rc.thermal_cal
 
+	#
 	# vmount to control mounts such as gimbals, disabled by default.
+	#
 	if param compare MNT_MODE_IN -1
 	then
 	else
@@ -994,7 +957,47 @@ fi
 
 # There is no further script processing, so we can free some RAM
 # XXX potentially unset all script variables.
+unset AUX_MODE
+unset DATAMAN_OPT
+unset FAILSAFE
+unset FAILSAFE_AUX
+unset FCONFIG
+unset FEXTRAS
+unset FRC
+unset FMU_ARGS
+unset FMU_MODE
+unset IO_FILE
+unset IO_PRESENT
+unset LOG_FILE
+unset LOGGER_BUF
+unset MAVLINK_F
+unset MAVLINK_COMPANION_DEVICE
+unset MAV_TYPE
+unset MIXER
+unset MIXER_AUX
+unset MK_MODE
+unset MKBLCTRL_ARG
+unset MODE
+unset OUTPUT_AUX_DEV
+unset OUTPUT_DEV
+unset OUTPUT_MODE
+unset PARAM_FILE
+unset PWM_ACHDIS
+unset PWM_OUT
+unset PWM_RATE
+unset PWM_DISARMED
+unset PWM_MIN
+unset PWM_MAX
+unset PWM_AUX_OUT
+unset PWM_AUX_RATE
+unset PWM_ACHDIS
+unset PWM_AUX_DISARMED
+unset PWM_AUX_MIN
+unset PWM_AUX_MAX
 unset TUNE_ERR
+unset USE_IO
+unset VEHICLE_TYPE
+
 
 # Boot is complete, inform MAVLink app(s) that the system is now fully up and running
 mavlink boot_complete
diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index ff704a55c8..b53d349e9f 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -62,7 +62,7 @@ set(config_module_list
 	#
 	# System commands
 	#
-	systemcmds/bl_update
+	#systemcmds/bl_update
 	#systemcmds/config
 	#systemcmds/dumpfile
 	#systemcmds/esc_calib