diff --git a/ROMFS/px4fmu_common/init.d/4070_aerofc b/ROMFS/px4fmu_common/init.d/4070_aerofc
index e32e4c1e74..2ae75a5b3b 100644
--- a/ROMFS/px4fmu_common/init.d/4070_aerofc
+++ b/ROMFS/px4fmu_common/init.d/4070_aerofc
@@ -9,8 +9,7 @@ sh /etc/init.d/rc.mc_defaults
 tap_esc start -d /dev/ttyS0 -n 4
 usleep 300000
 
-set OUTPUT_MODE rcin
-set OUTPUT_DEV /dev/tap_esc
+set OUTPUT_MODE tap_esc
 set MIXER quad_x
 set USE_IO no
 
diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index 62de7c345f..794884e150 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -31,16 +31,11 @@ then
 		fi
 	fi
 
-	if ver hwcmp AEROFC_V1
-		# Do nothing
+	if [ $OUTPUT_MODE == mkblctrl ]
 	then
+		set OUTPUT_DEV /dev/mkblctrl0
 	else
-		if [ $OUTPUT_MODE == mkblctrl ]
-		then
-			set OUTPUT_DEV /dev/mkblctrl0
-		else
-			set OUTPUT_DEV /dev/pwm_output0
-		fi
+		set OUTPUT_DEV /dev/pwm_output0
 	fi
 
 	if [ $OUTPUT_MODE == uavcan_esc ]
@@ -48,6 +43,11 @@ then
 		set OUTPUT_DEV /dev/uavcan/esc
 	fi
 
+	if [ $OUTPUT_MODE == tap_esc ]
+	then
+		set OUTPUT_DEV /dev/tap_esc
+	fi
+
 	if mixer load $OUTPUT_DEV $MIXER_FILE
 	then
 		echo "INFO  [init] Mixer: $MIXER_FILE on $OUTPUT_DEV"
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 744fbee304..95d2d71da6 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -323,6 +323,11 @@ then
 		set FMU_MODE gpio_serial
 	fi
 
+	if [ $OUTPUT_MODE == tap_esc ]
+	then
+		set FMU_MODE rcin
+	fi
+
 	if [ $HIL == yes ]
 	then
 		set OUTPUT_MODE hil